RoCKIn2014PhaseII - Revision history

Victorm at 09:51, 25 June 2014

2014-06-25T09:51:28Z

Fernando: /* Arduino Sketch */

2013-12-26T18:05:08Z

‎Arduino Sketch

Fernando: /* Arduino Sketch */

2013-12-17T16:26:49Z

‎Arduino Sketch

Carlosrhrh: /* ROS and the ultrasonic sensor belt */

2013-12-02T19:31:59Z

‎ROS and the ultrasonic sensor belt

Carlosrhrh: /* ROS and the ultrasonic sensor belt */

2013-12-02T19:26:27Z

‎ROS and the ultrasonic sensor belt

Carlosrhrh: /* ROS and the ultrasonic sensor belt */

2013-12-02T19:25:37Z

‎ROS and the ultrasonic sensor belt

Carlosrhrh: /* Software installation */

2013-12-02T19:18:04Z

‎Software installation

Carlosrhrh: /* Sequentially Read Each Sensor 2 */

2013-12-02T19:16:10Z

‎Sequentially Read Each Sensor 2

Carlosrhrh: /* Software installation */

2013-12-02T19:10:54Z

‎Software installation

Carlosrhrh: /* Software installation */

2013-12-02T18:52:17Z

‎Software installation

@@ Line 1: / Line 1: @@
-== Hardware ==
+=Hardware=
-=== Structure modifications ===
+==Structure modifications==
 Cover for the screen in order to cover the metallics parts and wires.
@@ Line 15: / Line 15: @@
 For this was changed the screws for other longers.
 [[Image:modificacionbase1.jpg|center|300px]]
-=== Ultrasonic Sensors Belt ===
+==Ultrasonic Sensors Belt==
-==== Ultrasonic sensors selecction and microcontroller used ====
+===Ultrasonic sensors selecction and microcontroller used===
 There are many different  kind of ultrasonic sensors and manufacturers, but in this case we have used the Maxbotics [http://www.maxbotix.com] manufacturer . We use these, in order to recycle the ultrasonic sensors of an old watchful robot ( good rattletrap).
@@ Line 31: / Line 30: @@
 These sensors will be controller through an Arduino MEGA.
-==== First tests and validation sensors.====
+===First tests and validation sensors===
 Theses sensors have a diode between his outputs PW (anode) and AN  (cathode).
@@ Line 37: / Line 36: @@
 After a several test with and without the diode, we come to a conclusion that the sensor only work properly and in the PDF way, using these without diode.
-==== Analogical read.====
+===Analogical read===
 In order to test the analogical output and his work, we take the process described in the tutorial[http://www.maxbotix.com/articles/016.htm], in which the analogical read (AN) is do it by a voltmeter or using the next  program for Arduino:
@@ Line 84: / Line 84: @@
 After this, we know hat the analogical output of the sensor do not work.
-==== Digital read PW output. One sensor.====
+===Digital read PW output. One sensor===
 This output is test using an Arduino and the next code [http://playground.arduino.cc/Main/MaxSonar]
@@ Line 114: / Line 114: @@
 </pre>
-==== Using multiple sensors ====
+===Using multiple sensors===
 In order to use several sensors [http://www.maxbotix.com/articles/031.htm]at the same time and avoid the cross-talk effect,  [http://en.wikipedia.org/wiki/Crosstalk_(electronics)] between them, it is necessary that the sensor work in sequentially way.
-===== Sequentially Read Each Sensor 1=====
+====Sequentially Read Each Sensor 1====
 In order to trigger sequentially the sensors, and use the minimum digital outputs of the microcontroller, the sensors are connected like in the figure, but instead of use the AN output, using the PW ones.
@@ Line 248: / Line 248: @@
 After this test we know that in his way do not work and we can start to think that the sensor were reprogramming in a different way or they are broken.
-===== Sequentially Read Each Sensor 2 =====
+====Sequentially Read Each Sensor 2====
 We know that the PW output and in a individually way work properly, for this and in order to trigger sequentially the sensor, the RX pin of each sensor will be  connected to a digital output of the microcontroller.
@@ Line 317: / Line 317: @@
 </pre>
-==== ROS and the ultrasonic sensor belt ====
+===ROS and the ultrasonic sensor belt===
-===== Software installation =====
+====Software installation====
 '''''ROS Installation'''''
@@ Line 327: / Line 327: @@
 <syntaxhighlight>sudo apt-get install ros-fuerte-rosserial</syntaxhighlight>
-'''''Arduino Intallation'' '''
+'''''Arduino Intallation'''''
 <syntaxhighlight>sudo apt-get update
 sudo apt-get install arduino arduino-core</syntaxhighlight>
@@ Line 338: / Line 339: @@
 We have to  modificate the line 35 (#include "WProgram.h") in ArduinoHardware.h (into ros_lib) for #include "Arduino.h".
-===== Arduino Sketch =====
+====Arduino Sketch====
 <syntaxhighlight>
 #include <ros.h>
@@ Line 414: / Line 416: @@
+}
 </syntaxhighlight>
 Now we only have to start ROS, estar de communication with Arduino (in oher terminal) and see the data take from the sensors:
@@ Line 431: / Line 431: @@
 </syntaxhighlight>
-== Software ==
+=FAQ/Problems=
 The typical problem with Xtion pro model:
@@ Line 493: / Line 481: @@
 If someone find a better answer I will be happy to know it.
-==== Multiple openni cameras ====
+==Multiple openni cameras==
 We  have two different cameras Xtion PRo and kinect.This problem is related with the previous configuration, tt makes possible to work with Xtion but now we have problems with kinect.

@@ Line 360: / Line 360: @@
 const int control_b = 11;
 const int control_c = 9;
 void setup()
@@ Line 407: / Line 409: @@
+{
    digitalWrite(x, HIGH);
-  delay (2);
+   unsigned long pulse = pulseIn(y, HIGH, timeout);
    digitalWrite(x, LOW);
    return pulse;

@@ Line 408: / Line 408: @@
    digitalWrite(x, HIGH);
    delay (2);
-   pulse = pulseIn(y, HIGH);
+   unsigned long pulse = pulseIn(y, HIGH);
-   digitalWrite(control_a, LOW);
+   digitalWrite(x, LOW);
    return pulse;
+}

@@ Line 412: / Line 412: @@
    return pulse;
+}
 </syntaxhighlight>

@@ Line 339: / Line 339: @@
 ===== Arduino Sketch =====
+<syntaxhighlight>
 #include <ros.h>
 #include <ros/time.h>
@@ Line 412: / Line 412: @@
    return pulse;
+}
 == Software ==

@@ Line 336: / Line 336: @@
 This libreries need only a modification in the case of use ROS Fuerte, because it is a old version, and  were developed for old Arduino versions.
-We have to  modificate the line 35 (WProgram.h) in ArduinoHardware.h (into ros_lib) for #include "Arduino.h".
+We have to  modificate the line 35 (#include "WProgram.h") in ArduinoHardware.h (into ros_lib) for #include "Arduino.h".
 == Software ==

@@ Line 257: / Line 257: @@
 <pre>
-const int senSor_a = 12; // definimos los pines para la lectura de la patilla pw DE LOS ULYRASONIDOS
+// digitals INPUTS for PW read
 const int senSor_b = 10;
 const int senSor_c = 8;
-const int control_a = 13;// DEFINIMOS los pines para la activacion y desactivacio de los dispositivos
+// digital OUTPUTS to trigger the sensors
 const int control_b = 11;
 const int control_c = 9;

← Older revision		Revision as of 19:10, 2 December 2013
Line 334:		Line 334:

	This libreries need only a modification in the case of use ROS Fuerte, because it is a old version, and were developed for old Arduino versions.		This libreries need only a modification in the case of use ROS Fuerte, because it is a old version, and were developed for old Arduino versions.
		+	We have to modificate the line 35 (WProgram.h) in ArduinoHardware.h (into ros_lib) for #include "Arduino.h".

	== Software ==		== Software ==

@@ Line 332: / Line 332: @@
 <syntaxhighlight>roscd rosserial_arduino/libraries
 cp -r ros_lib /home/”directory arduino name”/libraries/ros_lib</syntaxhighlight>
 == Software ==