RoCKIn2014PhaseI - Revision history

Victorm at 09:07, 25 June 2014

2014-06-25T09:07:10Z

2013-11-06T18:01:31Z

‎Hardware Preparation

2013-11-06T18:01:06Z

‎Hardware Preparation

2013-11-06T18:00:11Z

‎Hardware Preparation

2013-11-06T17:56:32Z

‎Hardware Preparation

2013-11-04T18:32:59Z

‎Hardware Preparation

2013-11-04T18:32:03Z

‎Hardware Preparation

2013-11-04T18:30:24Z

‎Hardware Preparation

2013-11-04T17:59:11Z

‎Hardware Preparation

2013-10-29T09:25:53Z

‎Packages search

@@ Line 1: / Line 1: @@
 =Hardware Preparation=
 We need to make some initial tasks to fulfill the basic hardware setup, configuration, and customization of the robot.
@@ Line 108: / Line 106: @@
 The start button must be start a program, for this way a push button  is connected to a microcontroller, in this case is connected to a digital input of an Arduino. This digital input is powered to 5V (HIGH state) trough a ''pull-up'' resistor. When the start button is pushed, it connect the digital input to ground and set the input to LOW state for a little time, the microcontroller reads the LOW and send a signal to the computer, in order to run the program.
-==Software Preparation==
+=Software Preparation=
-===Environment setup===
+==Environment setup==
 We are going to define the basis of the system to be deployed.
@@ Line 118: / Line 116: @@
 * Core drivers for Roomba : [[HowToInstallRoombaPackage | How to install roomba package]]
-===Packages search===
+==Packages search==
 We use ROS so we can find at least a package for each ability ready to deploy in a robot. In this way, this task involves search and test each package to evaluate if we are able to deploy in our platform.
@@ Line 148: / Line 146: @@
    <pre style="color: red">Gesture recognition</pre>
-===Ros: Debugging Techniques===
+==Ros: Debugging Techniques==
 It is possible to make debugging in ROS in two ways

@@ Line 80: / Line 80: @@
 +	{
 +		ROS_INFO("Connected to Roomba.");
-+		ROS_INFO("Conectando el cepillo.");
++		ROS_INFO("Brush switched ON.");
 +		roomba->brushes(1,1,1,1,1);
 +	}

@@ Line 16: / Line 16: @@
 [[Image:BrushModification.jpg|center|400px]]
 Software:
@@ Line 84: / Line 82: @@
 +		ROS_INFO("Conectando el cepillo.");
 +		roomba->brushes(1,1,1,1,1);
 +	}
   	else
+  	{
   		ROS_FATAL("Could not connect to Roomba.");
 </syntaxhighlight>
 ;Task 2

@@ Line 21: / Line 21: @@
 Software:
-We need to adapt part of '''romba_500_series''' package. We made a few changes in two files
+We need to adapt part of '''romba_500_series''' package. We made a few changes in two files.
 <syntaxhighlight lang="C">
@@ Line 44: / Line 44: @@
 +	while(j<0)
 +	{
 +		j++;
 +		cmd_buffer1[0] = 0x87;
@@ Line 52: / Line 53: @@
 +			printf("ERROR");
 +		return(-1); }
 +	}
   	try{ serial_port_->write((char*)cmd_buffer, 2); }
 -	catch(cereal::Exception& e){ return(-1); }
@@ Line 65: / Line 64: @@
 </syntaxhighlight>
 ;Task 2

@@ Line 7: / Line 7: @@
 ;Task 1
-: Get power from roomba brush (It is going to be used in the arm )
+<!--: Get power from roomba brush (It is going to be used in the arm )-->
 The roomba vacuum has an especial hardware to connect and disconnect the supply from the brush motors   and vacuum motor.
 This hardware is an electronic switch that works connecting and disconnecting the ground of the motor to control.
@@ Line 14: / Line 14: @@
 <center>  <videoflash>KiNFuWWZwFs</videoflash> </center>
 ;Task 2

@@ Line 31: / Line 31: @@
 ;Task 3
 : Start Button
-The start button, must be start a program, for this way, a push button  is connected to a microcontroller, in this case is connected to a digital input of an Arduino. This digital Input is powered to 5V (HIGH state) trough a Pull-up resistor. When the start button is pushed, it connect the digital Input to Ground and set the Input to LOW state for a little time, the microcontroller reads the LOW and send a signal to the computer, in order to run the program.
+The start button must be start a program, for this way a push button  is connected to a microcontroller, in this case is connected to a digital input of an Arduino. This digital input is powered to 5V (HIGH state) trough a ''pull-up'' resistor. When the start button is pushed, it connect the digital input to ground and set the input to LOW state for a little time, the microcontroller reads the LOW and send a signal to the computer, in order to run the program.

@@ Line 21: / Line 21: @@
 ;Task 2
 : Emergency Stop Button
 [[Image:PictureChainButtonStop.jpg|center|600px]]
@@ Line 28: / Line 31: @@
 ;Task 3
 : Start Button
 ToDo

@@ Line 55: / Line 55: @@
    Cognition
-      To be done during stacks integration
+      Ongoing task
    <pre style="color:red">Person recognition</pre>