This is a listing of Services which can operate in MyRobotLab framework. You could think of these Services as being little software machines managing input, output and communicating to other systems.

Mail Service

javadoc

 

Mail service is usefull to send emails using SMTP protocol ( ssl or tls )

Follow the syntaxe in the exemple, bellow :

Examples:

[[service/Mail.py]]

HttpClient Service

javadoc

 

HttpClient service is a service wrapper of the Apache HttpClient
So, you can download webpages, images, and a all sorts of
goodies from the internet.

Setup: 

example: 

Examples:

[[service/HttpClient.py]]

WikiDataFetcher Service

javadoc

 

[ service actualy in debug state for some fixes ( quantities ) ]

Mostly copy/paste from Beetlejuice blog post : http://myrobotlab.org/content/wikidatafetcher

This service grab data from wikis website ( for now wikidata )

wikidata store data by entities with an ID , by exemple, Adam Sandler have the ID Q132952 .

each entity contain several elements :

Examples:

[[service/WikiDataFetcher.py]]

ImageDisplay Service

javadoc

ImageDisplay is usefull to open local or remote pictures, and render result to screen...

 

Examples:

[[service/ImageDisplay.py]]

LocalSpeech Service

javadoc

This text to speech synthesis service use local operating system text to speech engine.

MacOs :

Just set your voice, inside control panel
You can test it using say "something" inside terminal

http://cdn.osxdaily.com/wp-content/uploads/2011/07/add-new-voices-to-os-x-lion.jpg

 

Windows :

Examples:

[[service/LocalSpeech.py]]

Ros Service

javadoc

This is a placeholder.

Looking into creating a functioning bridge to ROS

Resources:

Examples:

[[service/Ros.py]]

IntegratedMovement Service

javadoc

IntegratedMovement is a service that use inverse kinematic computation to control the position of a robot arms. So instead of moving each joints separatly, you give a position in a 3d space and the arm will take to position it need to reach that position.

Setup: 

Using InMoov service

The integratedMovement service have been add to the inMoov service and will load default setting.

the command to start the service is 

InMoov.startIntegratedMovement()

If the range of your servo do not correspond to the default setting, you can adjust the limits using

InMoov.IntegratedMovement.setMinMaxAngle(partName, minAngle, maxAngle)... partName is the same name as the servo that move a part. 

 

Using IntegratedMovement as standalone service

The IntegratedMovement can be use for any robot. You will need to define the DH parameters for each joints before you can use it. 

The first thing you must do is to declare a new DHRobotArm with setNewDHRobotArm(armName). This will create a new thread class that will command the arm or the robot.

Then you must setup the DHLinks for each joints of the arm. The DHLinks will define how a joints moves relatively to the previous joints. The DH parameters are explained in this video

https://www.youtube.com/watch?v=rA9tm0gTln8

If you want the same coordinated for all of your arms, they must start all your arms with a common link originated at the same point

To set the DHLinks, you must use one of those methods

  • setDHLink(armName, linkName, d, theta, r, alpha)
  • setDHLink(armName, servo, d, theta, r, alpha)

    • d, theta, r and alpha are the DH parameters (see the video)
    • the first version use a string as linkName. It will make a static link that don't rotate, but still take in account for the inverse kinetic algorythm
    • the second version initialize the link with information found in the servo class, like the min/max limits. It will also establish communication between the DHRobotArm and the Servo so when the servo moves the DHRobotArm get updated about the movement.

Finally, you start the DHRobotArm thread with startEngine(armName)

 

You can also setup physicals objects that will be taken in account by the inverse kinetic engine to avoid collision between the defined objects.

To add an virtual object in the environnement of your robot, you must use

  • addObject(OriginX, OriginY, OriginZ, EndX, EndY, EndZ, objectName, radius, jmeRender)

    • Object are all considered as a cylinder, so you must define a Origin and a End point relative to your first DHLink origin and a radius. Units must be the same as use for defining the DH parameters
    • jmeRender is a boolean (True/False) that will make the object appear (render) into the JmeApp if you are using it
    • the objects set are static and cannot be moved

To set your DHLink as objects you must use

  • addObject(objectName, radius, jmeRender)

    • Object name must be the same name as the DHLink it's link to
    • jmeRender is a boolean (True/False) that will make the object appear (render) into the JmeApp if you are using it
    • the inverse kinetic engine will update the position of the object, so you dont have to give an Origin and End point

the method objectAddIgnored(objectName1, objectName2) will make the inverse kinetic engine ignore collision between the two object defined. This may be necessary if two objects are too close that the engine detect them as colliding.

The kinect can be use to 'see'  the objects in front of the robot. You can start the kinect with startOpenNI(). the kinect is not reading the environment in real time yet, you must ask it to take a snapshot with processKinectData()

 

example: 

[[/service/IntegratedMovement.InMoov.py]]

Examples:

[[service/IntegratedMovement.py]]

Bno055 Service

javadoc

Intelligent 9-axis absolute orientation sensor

The BNO055 is a System in Package (SiP), integrating a triaxial 14-bit accelerometer, a triaxial 16-bit gyroscope with a range of ±2000 degrees per second, a triaxial geomagnetic sensor and a 32-bit cortex M0+ microcontroller running Bosch Sensortec sensor fusion software, in a single package.

[[/service/Bno055.py]]

References :

Examples:

[[service/Bno055.py]]

DiyServo Service

javadoc

The DiyServo service is a service that can be used as a normal servo, but it's built from a motor and an analog input. The idea is that you should be able to use any motor and any analog input to byild your own servo. The circuit below can be used to connect the motor and the servo to a single Arduino. But it's also possible to configure in alternate ways. 

DiyServo

 

Examples:

[[service/DiyServo.py]]

Mpu6050 Service

javadoc

MPU6050 is a service for Accelerometer and Gyro. Several different boards exists that has the MPU-6050 circuit. Different boards can be found at the Arduino site http://playground.arduino.cc/Main/MPU-6050. The board that has been used for testing on both Arduino and Raspberry Pi is the GY-521 board. 

Examples:

[[service/Mpu6050.py]]