Trying to learn the basics of MRL

Hi again I have not been able to get anything to work in mrl so i went back to the basics

on youtube i tried to follow the tutoral of greg perry tutoral #1 (overview) dated may,17, 2011 in it he is showing you how to make the audio say hello world using just the clock, log and speech you would think that would be easy right? whell when i try it it will not allow me to do any thing but show the clock no speach it says annotation not available (what is that ) is this this the same program he he is using it is just three steps why cant i get it to work when i start the clock it works but thats all no speach and i follow his steps one at a time.

P,S. how can i solve all of the worlds problems when i cant even make a clock speak :-)

HELP!

Hi :) well 2011 is a bit

Hi :)

well 2011 is a bit outdated :) imagine that even a 6 months old version of mrl could be noworky ! :)

In that tutorial he was using the gui to connect sevices...well that way to use mrl is very weak cause not every service has a gui !

Best way is to learn using the POWERFULL python :) so to use the services using a small amount of code !

Set a goal and we are going to help you to reach it using a python script !

Alessandro

basics

Hi and thank you

all i want to do right now is to just make the clock speak the time every 60 seconds

I have an inmoov right hand and arm assembly with the arduino mega 2560 processor the break out boards from the inmoov website and all of the servos, i have tried to make work but cant so for right now I just want the clock to tell me the time via MRL

thanks for the help

I've enjoyed your videos

Well to make mrl speak every

Well to make mrl speak every 60 seconds is good to learn, but it's very different from moving the hand...

i would start trying to move a servo using myrobotlab :) this will be very usefull for your future use of myrobotlab.. :)

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

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

Enjoy!

Alessandro

basic

again thank you for your help

I watched the video and i still dont understand where he got all the script from.when he starts the video there is a bunch of writing on the screen where did it come from? on windows when i open mrl i dont have a comand prompt i only have a shortcut that opens mrl no comand prompt. do you have to write all of the script?

basic

Is there any where else that i can go to find out how to start in mrl i meen very very very basic tutoral on how to start and use it i know it is easy to use for someone that understands how to write script. I can print and build the inmoov robot but i cant figure out how to make it work i know it should be simple but its not

im kind a like the caveman that could build a car but dint know how to make the wheel

thanks again

Eheh... You missed the

Eheh... You missed the installation of services part..

Here is the very start :

http://myrobotlab.org/content/how-start-new-mrl

Once you have all the services installed (highlighted in green instead of grey) the command line tab will appear at the start

The think you see on the

The think you see on the screen is not a script but it's just the output of mrl...

Don t worry about that... But follow step by step what Kevin does

removal of myrobotlab

can someone tell me how to remove myrobotlab off of my pc

thanks for the help

Very easy - go to the

Very easy - go to the directory its installed in .. and delete it :)

still cant get arduino to work

can some one please help me to get my arduino to work with mrl i have watched videos tried to follow step by step still cant get it to work all i ask is someone to tell me step by step what to do like step one plug in board step 2 .... im just asking for a little bit of time for some help i have watched all of the videos but cant get it to work just tell me the steps on how to make ONE FINGER TO MOVE ON THE INMOOVE ROBOT when i follow one tutoral its not the same as another just a little bit of time

PLEASE SOMEONE

Don't worry oldfarmhand ...

Don't worry oldfarmhand ... it just takes a little time & patience.

Driving MRL is a little like flying .. and with flying the hardest part is the take-off.

So let's start with a flight pre-check. I am assuming you are on Windows - correct me if I'm wrong.

I can start you from the very beginning, but I don't know how far you got.

Did it start for you ?

This is a link to the "latest" - http://mrl-bucket-01.s3.amazonaws.com/dist/myrobotlab.jar

Download it into a directory you can find later e.g. something like c:\myrobotlab

All of this assumes, you know how to download files, make directories, and do basic navigation with a computer. If you don't know how to do some of these things, we can go over it ... but I don't want to waste your time if you already know how.

I'm working on the assumption that you got mrl (myrobotlab) started - and it looked something like this :

If you did not make it that far, DON'T PANIC .. we'll get you there... I just am trying to find the best place to start. We are all blind to what you are doing, we can not see, and using a computer is primarily a visual experience .. so I have to get the information of how far you got without actually seeing what is going on.

Because its a visual experience its helpful if I can see or control your computer - if you are ok with this possibility there is an application called Chrome Remote Desktop. If you install it I and share your screen I can "show" you what to do.

https://chrome.google.com/webstore/detail/chrome-remote-desktop/gbchcmhmhahfdphkhkmpfmihenigjmpp?hl=en

Either way, we'll figure it out.

Best Regards,

GroG

basic

Hi Grog

yes i have mrl and it looks like the pic. Geil said to load version 1.0.117 which i did. ln system folder i clicked download all an then restart two items did not install ( plantoid and webgui ) i started my arduino mega 2560

it looks like this

basic part 2

when i pasted it to my arduino it looked like this

void setup() {

// put your setup code here, to run once:

}

void loop() {

// put your main code here, to run repeatedly:

}/**

* @author GroG (at) myrobotlab.org

* This file is part of MyRobotLab.

* Enjoy !

* MRLComm.ino

* -----------------

* Purpose: support servos, sensors, analog & digital polling

* oscope, motors, range sensors, pingdar & steppers.

* Requirements: MyRobotLab running on a computer & a serial connection

#include <Servo.h>

#define MRLCOMM_VERSION 21

// serial protocol functions

#define MAGIC_NUMBER 170 // 10101010

// ----- MRLCOMM FUNCTION GENERATED INTERFACE BEGIN -----------

///// INO GENERATED DEFINITION BEGIN //////

// {publishMRLCommError Integer}

#define PUBLISH_MRLCOMM_ERROR 1

... more stuff here ....

and i clicked upload and the i get

copy of error message

redefintion of void setup

basic 3

I also have problems with mrl in that when i try to repete steps mrl will freeze up an i have to reboot my pc Im using version 1.8.0 _ 60 b27

this is the full error message i get

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

sketch_aug26a.ino: In function 'void setup()':

sketch_aug26a:425: error: redefinition of 'void setup()'

sketch_aug26a:1: error: 'void setup()' previously defined here

sketch_aug26a.ino: In function 'void loop()':

sketch_aug26a:617: error: redefinition of 'void loop()'

sketch_aug26a:6: error: 'void loop()' previously defined here

redefinition of 'void setup()'

This report would have more information with

"Show verbose output during compilation"

enabled in File > Preferences.

BASIC 4 WHEW!

Alessandro asked me to watch this video which i did

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

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

and when he typed in the script in python i could not tell what he was typing can you tell me what to type there.

I know yall are busy and this is free help you are giving me, and i want to thank all of yall for what what you do without you inmoov would only still be a dream. I can only guess how many people it has inspired

( can you tell im from the south of usa ?) i like to think of it as redneck language :-)

basic 4a.

Hi Grog

you wrote

https://chrome.google.com/webstore/detail/chrome-remote-desktop/gbchcmhmhahfdphkhkmpfmihenigjmpp?hl=en

Either way, we'll figure it out.

how do you do that?

1. You install Chrome browser

1. You install Chrome browser if you don't already have it.

2. You install the application I sent a link to

3. We decide on what a good activity would be - e.g. move a servo with a slider

4. We coordinate on the time - you start the Remote Desktop Application and send me the IP address in email I remotely take control of your computer and you watch as we complete the task.

Clean the arduino sketch page

Clean the arduino sketch page before to paste the "mrl comm arduino file"

Ok this one is easy :) You

Ok this one is easy :)

You added MRL to the bottom when you pasted. DOH !!!

What you want to do is replace all the contents.

MRLComm.ino has its own setup & loop - but you can see at the top this part which should have been removed befor you pasted MRLComm.ino in

void setup() {

// put your setup code here, to run once:

}

void loop() {

// put your main code here, to run repeatedly:

}

Make sense?

basics part 5

It does

i took out the the top part and got this

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.

Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.

avrdude: ser_open(): can't set com-state for "\\.\COM4"

avrdude: ser_drain(): read error: The handle is invalid.

Problem uploading to board. See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.

This report would have more information with

"Show verbose output during compilation"

enabled in File > Preferences.

I verified that i had com4 for my mega and i do now thats as far as i have gotten

basic 5A

just to make sure this is what i put in my arduino

/**

* @author GroG (at) myrobotlab.org

* This file is part of MyRobotLab.

* Enjoy !

* MRLComm.ino

* -----------------

* Purpose: support servos, sensors, analog & digital polling

* oscope, motors, range sensors, pingdar & steppers.

* Requirements: MyRobotLab running on a computer & a serial connection

#include <Servo.h>

#define MRLCOMM_VERSION 21

// serial protocol functions

#define MAGIC_NUMBER 170 // 10101010

// ----- MRLCOMM FUNCTION GENERATED INTERFACE BEGIN -----------

///// INO GENERATED DEFINITION BEGIN //////

// {publishMRLCommError Integer}

#define PUBLISH_MRLCOMM_ERROR 1

// {getVersion}

#define GET_VERSION 2

// {publishVersion Integer}

#define PUBLISH_VERSION 3

// {analogReadPollingStart Integer}

#define ANALOG_READ_POLLING_START 4

// {analogReadPollingStop Integer}

#define ANALOG_READ_POLLING_STOP 5

// {analogWrite Integer Integer}

#define ANALOG_WRITE 6

// {digitalReadPollingStart Integer}

#define DIGITAL_READ_POLLING_START 7

// {digitalReadPollingStop Integer}

#define DIGITAL_READ_POLLING_STOP 8

// {digitalWrite Integer Integer}

#define DIGITAL_WRITE 9

// {motorAttach String String Integer Integer Integer}

#define MOTOR_ATTACH 10

// {motorDetach String}

#define MOTOR_DETACH 11

// {motorMove String}

#define MOTOR_MOVE 12

// {motorMoveTo String double}

#define MOTOR_MOVE_TO 13

// {pinMode Integer Integer}

#define PIN_MODE 14

// {publishCustomMsg Integer}

#define PUBLISH_CUSTOM_MSG 15

// {publishLoadTimingEvent Long}

#define PUBLISH_LOAD_TIMING_EVENT 16

// {publishPin Pin}

#define PUBLISH_PIN 17

// {publishPulse Integer}

#define PUBLISH_PULSE 18

// {publishServoEvent Integer}

#define PUBLISH_SERVO_EVENT 19

// {publishSesorData SensorData}

#define PUBLISH_SESOR_DATA 20

// {publishStepperEvent StepperData}

#define PUBLISH_STEPPER_EVENT 21

// {publishTrigger Pin}

#define PUBLISH_TRIGGER 22

// {pulseIn int int int String}

#define PULSE_IN 23

// {sensorAttach UltrasonicSensor}

#define SENSOR_ATTACH 24

// {sensorPollingStart String int}

#define SENSOR_POLLING_START 25

// {sensorPollingStop String}

#define SENSOR_POLLING_STOP 26

// {servoAttach Servo Integer}

#define SERVO_ATTACH 27

// {servoDetach String}

#define SERVO_DETACH 28

// {servoSweepStart String int int int}

#define SERVO_SWEEP_START 29

// {servoSweepStop String}

#define SERVO_SWEEP_STOP 30

// {servoWrite String Integer}

#define SERVO_WRITE 31

// {servoWriteMicroseconds String Integer}

#define SERVO_WRITE_MICROSECONDS 32

// {setDebounce int}

#define SET_DEBOUNCE 33

// {setDigitalTriggerOnly Boolean}

#define SET_DIGITAL_TRIGGER_ONLY 34

// {setLoadTimingEnabled boolean}

#define SET_LOAD_TIMING_ENABLED 35

// {setPWMFrequency Integer Integer}

#define SET_PWMFREQUENCY 36

// {setSampleRate int}

#define SET_SAMPLE_RATE 37

// {setSerialRate int}

#define SET_SERIAL_RATE 38

// {setServoEventsEnabled String boolean}

#define SET_SERVO_EVENTS_ENABLED 39

// {setServoSpeed String Float}

#define SET_SERVO_SPEED 40

// {setStepperSpeed Integer}

#define SET_STEPPER_SPEED 41

// {setTrigger int int int}

#define SET_TRIGGER 42

// {softReset}

#define SOFT_RESET 43

// {stepperAttach StepperControl}

#define STEPPER_ATTACH 44

// {stepperDetach String}

#define STEPPER_DETACH 45

// {stepperMoveTo String Integer}

#define STEPPER_MOVE_TO 46

// {stepperReset String}

#define STEPPER_RESET 47

// {stepperStep String Integer Integer}

#define STEPPER_STEP 48

// {stepperStop String}

#define STEPPER_STOP 49

// {stopService}

#define STOP_SERVICE 50

///// INO GENERATED DEFINITION END //////

// ----- MRLCOMM FUNCTION GENERATED INTERFACE END -----------

#define STEPPER_TYPE_SIMPLE 1

// ------ event types ------

#define STEPPER_EVENT_STOP 1

#define STEPPER_EVENT_STEP 2

// servo event types

#define SERVO_EVENT_STOPPED 1

#define SERVO_EVENT_POSITION_UPDATE 2

// error types

#define ERROR_SERIAL 1

#define ERROR_UNKOWN_CMD 2

#define ERROR_ALREADY_EXISTS 3

#define ERROR_DOES_NOT_EXIST 4

// ------ error types ------

#define SENSOR_ULTRASONIC 1

#define CUSTOM_MSG 50

// need a method to identify type of board

// http://forum.arduino.cc/index.php?topic=100557.0

#define COMMUNICATION_RESET 252

#define SOFT_RESET 253

#define NOP 255

// ---------- MRLCOMM FUNCTION INTERFACE END -----------

// MAX definitions

// MAX_SERVOS defined by boardtype/library

#define PINGDARS_MAX 6

#define SENSORS_MAX 12

#define STEPPERS_MAX 6

#define MAX_MOTORS 10

#define ECHO_STATE_START 1

#define ECHO_STATE_TRIG_PULSE_BEGIN 2

#define ECHO_STATE_TRIG_PULSE_END 3

#define ECHO_STATE_MIN_PAUSE_PRE_LISTENING 4

#define ECHO_STATE_LISTENING 5

#define ECHO_STATE_GOOD_RANGE 6

#define ECHO_STATE_TIMEOUT 7

// --VENDOR DEFINE SECTION BEGIN--

// --VENDOR DEFINE SECTION END--

// FIXME FIXME FIXME

// -- FIXME - modified by board type BEGIN --

// Need Arduino to do a hardware abstraction layer

// https://code.google.com/p/arduino/issues/detail?id=59

// AHAAA !! - many defintions in - pins_arduino.h !!!

// Need a "board" identifier at least !!!

#define ANALOG_PIN_COUNT 16 // mega

#define DIGITAL_PIN_COUNT 54 // mega

// #define MAX_SERVOS 48 - is defined @ compile time !!

// -- FIXME - modified by board type END --

#define ARDUINO_TYPE_INT 16; // :) type identifier - not size - but what the hell ;)

* TODO - CRC for last byte

* getCommand - retrieves a command message

* inbound and outbound messages are the same format, the following represents a basic message

* format

* NUM_BYTES - is the number of bytes after NUM_BYTES to the end

int msgSize = 0; // the NUM_BYTES of current message

unsigned int debounceDelay = 50; // in ms

long lastDebounceTime[DIGITAL_PIN_COUNT];

byte msgBuf[64];

typedef struct

{

int type;

int trigPin;

int echoPin;

bool isRunning;

int timeoutUS;

unsigned long ts;

unsigned long lastValue;

int state;

//NewPing* ping;

} sensor_type;

sensor_type sensors[SENSORS_MAX];

typedef struct

{

int ts;

int type;

int index; // is this redundant?

int currentPos;

int targetPos;

int speed;

int dirPin;

int stepPin;

// support up to 5 wire steppers

int pin0;

int pin1;

int pin2;

int pin3;

int pin4;

} stepper_type;

stepper_type steppers[STEPPERS_MAX];

// Servos

typedef struct

{

Servo* servo;

int index; // index of this servo

int speed;

int targetPos;

int currentPos;

bool isMoving;

int step; // affects speed usually 1

// sweep related

int min;

int max;

// int delay; - related to speed

int increment;

bool isSweeping;

// event related

bool eventsEnabled;

} servo_type;

servo_type servos[MAX_SERVOS];

// Motors

typedef struct

{

int index; // index of this motor

int speed;

int targetPos;

int currentPos;

bool isMoving;

int step; // affects speed usually 1

// sweep related

int min;

int max;

// int delay; - related to speed

int increment;

bool isSweeping;

// event related

bool eventsEnabled;

} motor_type;

motor_type motors[MAX_MOTORS];

unsigned long loopCount = 0;

unsigned long lastMicros = 0;

int byteCount = 0;

unsigned char newByte = 0;

unsigned char ioCmd[64]; // message buffer for all inbound messages

int readValue;

// FIXME - normalize with sampleRate ..

int loadTimingModulus = 1000;

boolean loadTimingEnabled = false;

unsigned long loadTime = 0;

// TODO - avg load time

unsigned int sampleRate = 1; // 1 - 65,535 modulus of the loopcount - allowing you to sample less

int digitalReadPin[DIGITAL_PIN_COUNT]; // array of pins to read from

int digitalReadPollingPinCount = 0; // number of pins currently reading

int lastDigitalInputValue[DIGITAL_PIN_COUNT]; // array of last input values

bool digitalTriggerOnly = false; // send data back only if its different

int analogReadPin[ANALOG_PIN_COUNT]; // array of pins to read from

int analogReadPollingPinCount = 0; // number of pins currently reading

int lastAnalogInputValue[ANALOG_PIN_COUNT]; // array of last input values

bool analogTriggerOnly = false; // send data back only if its different

//---- data record definitions begin -----

// TODO - all well and good .. but you dont control Servo's data (yet)

// should have a struct for it too - contains all the data info you'd want to have

// in a servo - same with stepper

typedef struct

{

int servoIndex; // id of servo in servos array

//int servoPos; in servo

int sensorIndex;

int sweepMin;

int sweepMax;

int step;

bool isRunning; // needed ? - is combo of two

} pingdar_type;

pingdar_type pingdars[PINGDARS_MAX];

//===custom msg interface begin===

byte customParams[256];

int paramBuffIndex;

int paramCnt;

//===custom msg interface end===

void sendServoEvent(servo_type& s, int eventType);

void sendStepperEvent(stepper_type& s, int eventType);

unsigned long getUltrasonicRange(sensor_type& sensor);

// void sendMsg ( int num, ... );

//---- data record definitions end -----

void append(const int& data) {

++paramCnt;

customParams[paramBuffIndex] = ARDUINO_TYPE_INT;

customParams[++paramBuffIndex] = (byte)(data >> 8);

customParams[++paramBuffIndex] = ((byte) data & 0xff);

++paramBuffIndex;

}

void startMsg() {

}

void setup() {

Serial.begin(57600); // connect to the serial port

softReset();

// --VENDOR SETUP BEGIN--

// --VENDOR SETUP END--

}

void sendMsg(){

// unbox

Serial.write(MAGIC_NUMBER);

Serial.write(paramBuffIndex + 2); // = param buff size + FN + paramCnt

//Serial.write(2); // = param buff size + FN + paramCnt

Serial.write(CUSTOM_MSG);

Serial.write(paramCnt);

for (int i = 0; i < paramBuffIndex; ++i){

Serial.write(customParams[i]);

}

paramCnt = 0;

paramBuffIndex = 0;

}

void softReset()

{

for (int i = 0; i < MAX_SERVOS - 1; ++i)

{

servo_type& s = servos[i];

s.speed = 100;

if (s.servo != 0){

s.servo->detach();

}

for (int j = 0; j < DIGITAL_PIN_COUNT - 1; ++j)

{

pinMode(j, OUTPUT);

}

digitalReadPollingPinCount = 0;

analogReadPollingPinCount = 0;

loopCount = 0;

}

void setPWMFrequency (int address, int prescalar)

{

int clearBits = 0x07;

if (address == 0x25)

{

TCCR0B &= ~clearBits;

TCCR0B |= prescalar;

} else if (address == 0x2E)

{

TCCR1B &= ~clearBits;

TCCR1B |= prescalar;

} else if (address == 0xA1)

{

TCCR2B &= ~clearBits;

TCCR2B |= prescalar;

}

/**

* checks the existance of the searched value in the array

* - good for not adding to a dynamic list of values if it

* already exists

bool exists(int array[], int len, int searchValue){

for (int i = 0; i < len; ++i)

{

if (searchValue == array[i])

{

return true;

}

return false;

}

/**

* adds new value to a pseudo dynamic array/list

* if successful - if value already exists on list

* sends back an error

bool addNewValue(int array[], int& len, int addValue)

{

if (!exists(array, len, addValue)){

array[len] = addValue;

++len;

return true;

} else {

sendError(ERROR_ALREADY_EXISTS);

return false;

}

bool removeAndShift (int array [], int& len, int removeValue)

{

if (!exists(array, len, removeValue)){

sendError(ERROR_DOES_NOT_EXIST);

return false;

}

int pos = -1;

if (len == 0)

{

// "should" never happen

// would be calling remove on an empty list

// the error ERROR_DOES_NOT_EXIST - "should" be called

return true;

}

// find position of value

for (int i = 0; i < len; ++i)

{

if (removeValue == array[i])

{

pos = i;

break;

}

// if at the end just decrement size

if (pos == len - 1)

{

--len;

return true;

}

// if found somewhere else shift left

if (pos < len && pos > -1)

{

for (int j = pos; j < len - 1; ++j)

{

array[j] = array[j+1];

}

--len;

}

return true;

}

boolean getCommand ()

{

// handle serial data begin

if (Serial.available() > 0)

{

// read the incoming byte:

newByte = Serial.read();

++byteCount;

// checking first byte - beginning of message?

if (byteCount == 1 && newByte != MAGIC_NUMBER)

{

sendError(ERROR_SERIAL);

// reset - try again

byteCount = 0;

return false;

}

if (byteCount == 2)

{

// get the size of message

// todo check msg < 64 (MAX_MSG_SIZE)

msgSize = newByte;

}

if (byteCount > 2) {

// fill in msg data - (2) headbytes -1 (offset)

ioCmd[byteCount - 3] = newByte;

}

// if received header + msg

if (byteCount == 2 + msgSize)

{

return true;

}

} // if Serial.available

return false;

}

void loop () {

++loopCount;

if (getCommand())

{

switch (ioCmd[0])

{

case DIGITAL_WRITE:{

digitalWrite(ioCmd[1], ioCmd[2]);

break;

}

case ANALOG_WRITE:{

analogWrite(ioCmd[1], ioCmd[2]);

break;

}

case PIN_MODE:{

pinMode(ioCmd[1], ioCmd[2]);

break;

}

case SERVO_ATTACH:{

servo_type& s = servos[ioCmd[1]];

s.index = ioCmd[1];

if (s.servo == NULL){

s.servo = new Servo();

}

s.servo->attach(ioCmd[2]);

s.step = 1;

s.eventsEnabled = false;

break;

}

case SERVO_SWEEP_START:{

servo_type& s = servos[ioCmd[1]];

s.min = ioCmd[2];

s.max = ioCmd[3];

s.step = ioCmd[4];

s.isMoving = true;

s.isSweeping = true;

break;

}

case SERVO_SWEEP_STOP:{

servo_type& s = servos[ioCmd[1]];

s.isMoving = false;

s.isSweeping = false;

break;

}

case SERVO_WRITE:{

servo_type& s = servos[ioCmd[1]];

if (s.speed == 100 && s.servo != 0)// move at regular/full 100% speed

{

s.targetPos = ioCmd[2];

s.currentPos = ioCmd[2];

s.isMoving = false;

s.servo->write(ioCmd[2]);

if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_STOPPED);

} else if (s.speed < 100 && s.speed > 0) {

s.targetPos = ioCmd[2];

s.isMoving = true;

}

break;

}

case PUBLISH_SERVO_EVENT:{

servo_type& s = servos[ioCmd[1]];

s.eventsEnabled = ioCmd[2];

break;

}

case SET_LOAD_TIMING_ENABLED:{

loadTimingEnabled = ioCmd[1];

//loadTimingModulus = ioCmd[2];

loadTimingModulus = 1000;

break;

}

case SERVO_WRITE_MICROSECONDS:{

// TODO - incorporate into speed control etc

// normalize - currently by itself doesn't effect events

// nor is it involved in speed control

servo_type& s = servos[ioCmd[1]];

if (s.servo != 0) {

// 1500 midpoint

s.servo->writeMicroseconds(ioCmd[2]);

}

break;

}

case SET_SERVO_SPEED:{

// setting the speed of a servo

servo_type& servo = servos[ioCmd[1]];

servo.speed = ioCmd[2];

break;

}

case SERVO_DETACH:{

servo_type& s = servos[ioCmd[1]];

if (s.servo != 0){

s.servo->detach();

}

break;

}

case SET_PWMFREQUENCY:{

setPWMFrequency (ioCmd[1], ioCmd[2]);

break;

}

case ANALOG_READ_POLLING_START:{

int pin = ioCmd[1];

addNewValue(analogReadPin, analogReadPollingPinCount, pin);

break;

}

case ANALOG_READ_POLLING_STOP:{

int pin = ioCmd[1];

removeAndShift(analogReadPin, analogReadPollingPinCount, pin);

break;

}

case DIGITAL_READ_POLLING_START:{

int pin = ioCmd[1];

addNewValue(digitalReadPin, digitalReadPollingPinCount, pin);

break;

}

case DIGITAL_READ_POLLING_STOP:{

int pin = ioCmd[1];

removeAndShift(digitalReadPin, digitalReadPollingPinCount, pin);

break;

}

case SET_TRIGGER:{

// FIXME !!! - you need 1. a complete pin list !!! analog & digital should be defined by attribute not

// data structure !!! if (pin.type == ??? if needed

// TODO - if POLLING ALREADY DON'T RE-ADD - MAKE RE-ENTRANT

analogReadPin[analogReadPollingPinCount] = ioCmd[1]; // put on polling read list

++analogReadPollingPinCount;

break;

}

case SET_DEBOUNCE:{

// default debounceDelay = 50;

debounceDelay = ((ioCmd[1]<<8) + ioCmd[2]);

break;

}

case SET_DIGITAL_TRIGGER_ONLY:{

digitalTriggerOnly = ioCmd[1];

break;

}

case SET_SERIAL_RATE:

{

Serial.end();

delay(500);

Serial.begin(ioCmd[1]);

break;

}

case GET_VERSION:{

Serial.write(MAGIC_NUMBER);

Serial.write(2); // size

Serial.write(PUBLISH_VERSION);

Serial.write((byte)MRLCOMM_VERSION);

break;

}

case PULSE_IN: {

// might need to hack the pulseIn lib - but would

// like to do it without delay

// http://arduino.cc/en/Tutorial/BlinkWithoutDelay

int trigPin = ioCmd[1];

int echoPin = ioCmd[2];

// TODO - implement HI/LOW value & timeout & variable delay for trigger

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

unsigned long duration = pulseIn(echoPin, HIGH);

//Calculate the distance (in cm) based on the speed of sound.

// distance = duration/58.2;

//sendMsg(4, ANALOG_VALUE, analogReadPin[i], readValue >> 8, readValue & 0xff);

//sendMsg(5, PULSE_IN, duration >> 24, duration >> 16, duration >> 8, duration & 0xff);

//sendMsg(6, SENSOR_DATA, 47, duration >> 24, duration >> 16, duration >> 8, duration & 0xff);

Serial.write(MAGIC_NUMBER);

Serial.write(5); // size 1 FN + 4 bytes of unsigned long

Serial.write(PULSE_IN);

// write the long value out

Serial.write((byte)(duration >> 24));

Serial.write((byte)(duration >> 16));

Serial.write((byte)(duration >> 8));

Serial.write((byte)duration & 0xff);

break;

}

case SET_SAMPLE_RATE:{

// 2 byte int - valid range 1-65,535

sampleRate = (ioCmd[1]<<8) + ioCmd[2];

if (sampleRate == 0)

{ sampleRate = 1; } // avoid /0 error - FIXME - time estimate param

break;

}

case SOFT_RESET:{

softReset();

break;

}

case STEPPER_ATTACH:{

stepper_type& stepper = steppers[ioCmd[1]];

stepper.index = ioCmd[1];

stepper.type = ioCmd[2];

stepper.currentPos = 0;

stepper.targetPos = 0;

stepper.speed = 100;

if (stepper.type == STEPPER_TYPE_SIMPLE) {

stepper.dirPin = ioCmd[3]; // dir pin

stepper.stepPin = ioCmd[4]; // step pin

pinMode(stepper.dirPin, OUTPUT);

pinMode(stepper.stepPin, OUTPUT);

} else {

sendError(ERROR_UNKOWN_CMD);

}

break;

}

case STEPPER_RESET:{

stepper_type& stepper = steppers[ioCmd[1]];

stepper.currentPos = 0;

stepper.targetPos = 0;

stepper.speed = 100;

break;

}

/* absolute position - not relative */

case STEPPER_MOVE_TO:{

stepper_type& stepper = steppers[ioCmd[1]];

if (stepper.type == STEPPER_TYPE_SIMPLE) {

stepper.targetPos = stepper.currentPos + (ioCmd[2]<<8) + ioCmd[3];

// relative position & direction

if (stepper.targetPos < 0) {

// direction

digitalWrite(stepper.dirPin, 1);

} else {

digitalWrite(stepper.dirPin, 0);

}

} else {

sendError(ERROR_UNKOWN_CMD);

}

break;

}

case STEPPER_STOP:{

stepper_type& stepper = steppers[ioCmd[1]];

if (stepper.type == STEPPER_TYPE_SIMPLE) {

stepper.targetPos = stepper.currentPos;

sendStepperEvent(stepper, STEPPER_EVENT_STOP);

} else {

sendError(ERROR_UNKOWN_CMD);

}

break;

}

// --VENDOR CODE BEGIN--

// --VENDOR CODE END--

// not sure if its worth implementing - same info can be retrieved from publish servo event & publish pin

case PINGDAR_ATTACH:{

int pingdarIndex = ioCmd[1];

pingdar_type& pingdar = pingdars[pingdarIndex];

pingdar.servoIndex = ioCmd[2];

pingdar.sensorIndex = ioCmd[3];

pingdar.step = 1;

break;

}

// used by ultrasonic sensor

case SENSOR_ATTACH:{

int sensorIndex = ioCmd[1];

sensor_type& sensor = sensors[sensorIndex];

sensor.type = ioCmd[2];

// initialize based on sensor type

if (sensor.type == SENSOR_ULTRASONIC){

sensor.trigPin = ioCmd[3];

sensor.echoPin = ioCmd[4];

pinMode(sensor.trigPin, OUTPUT);

pinMode(sensor.echoPin, INPUT);

//sensor.ping = new NewPing(sensor.trigPin, sensor.echoPin, 100);

}

break;

}

case SENSOR_POLLING_START:{

int sensorIndex = ioCmd[1];

sensor_type& sensor = sensors[sensorIndex];

sensor.isRunning = true;

// I'm used to ms - and would need to change some

// interfaces if i was to support inbound longs

//sensor.timeoutUS = ioCmd[2] * 1000;

sensor.timeoutUS = 20000; // 20 ms

sensor.state = ECHO_STATE_START;

break;

}

case SENSOR_POLLING_STOP:{

int sensorIndex = ioCmd[1];

sensor_type& sensor = sensors[sensorIndex];

sensor.isRunning = false;

break;

}

case NOP:{

// No Operation

break;

}

default:{

sendError(ERROR_UNKOWN_CMD);

break;

}

} // end switch

// reset buffer

memset(ioCmd,0,sizeof(ioCmd));

byteCount = 0;

} // if getCommand()

// all reads are affected by sample rate

if (loopCount%sampleRate == 0) {

// digital polling read - send data for pins which are currently in INPUT mode only AND whose state has changed

for (int i = 0; i < digitalReadPollingPinCount; ++i)

{

if (debounceDelay)

{

if (millis() - lastDebounceTime[digitalReadPin[i]] < debounceDelay)

{

continue;

}

// FIXME !! - normalize with analog

// read the pin

readValue = digitalRead(digitalReadPin[i]);

// if my value is different from last time && config - send it

if (lastDigitalInputValue[digitalReadPin[i]] != readValue || !digitalTriggerOnly)

{

Serial.write(MAGIC_NUMBER);

Serial.write(4); // size

Serial.write(PUBLISH_PIN);

Serial.write(digitalReadPin[i]);// Pin#

Serial.write(0); // MSB

Serial.write(readValue); // LSB

lastDebounceTime[digitalReadPin[i]] = millis();

}

// set the last input value of this pin

lastDigitalInputValue[digitalReadPin[i]] = readValue;

}

// analog polling read - send data for pins which are currently in INPUT mode only AND whose state has changed

for (int i = 0; i < analogReadPollingPinCount; ++i)

{

// read the pin

readValue = analogRead(analogReadPin[i]);

// if my value is different from last time - send it

if (lastAnalogInputValue[analogReadPin[i]] != readValue || !analogTriggerOnly) //TODO - SEND_DELTA_MIN_DIFF

{

//sendMsg(4, ANALOG_VALUE, analogReadPin[i], readValue >> 8, readValue & 0xff);

Serial.write(MAGIC_NUMBER);

Serial.write(4); //size

Serial.write(PUBLISH_PIN);

Serial.write(analogReadPin[i]);

Serial.write(readValue >> 8); // MSB

Serial.write(readValue & 0xff); // LSB

}

// set the last input value of this pin

lastAnalogInputValue[analogReadPin[i]] = readValue;

}

// update moving servos - send events if required

for (int i = 0; i < MAX_SERVOS; ++i)

{

servo_type& s = servos[i];

if (s.isMoving && s.servo != 0){

if (s.currentPos != s.targetPos)

{

// caclulate the appropriate modulus to drive

// the servo to the next position

// TODO - check for speed > 0 && speed < 100 - send ERROR back?

int speedModulus = (100 - s.speed) * 10;

if (loopCount % speedModulus == 0)

{

int increment = s.step * ((s.currentPos < s.targetPos)?1:-1);

// move the servo an increment

s.currentPos = s.currentPos + increment;

s.servo->write(s.currentPos);

if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_POSITION_UPDATE);

}

} else {

if (s.isSweeping) {

if (s.targetPos == s.min){

s.targetPos = s.max;

} else {

s.targetPos = s.min;

}

} else {

if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_STOPPED);

s.isMoving = false;

}

unsigned long ts;

for (int i = 0; i < SENSORS_MAX; ++i) {

sensor_type& sensor = sensors[i];

if (sensor.isRunning == true){

if (sensor.type == SENSOR_ULTRASONIC){

// we are running & have an ultrasonic (ping) sensor

// check to see what state we are in

if (sensor.state == ECHO_STATE_START){

// trigPin prepare - start low for an

// upcoming high pulse

pinMode(sensor.trigPin, OUTPUT);

digitalWrite(sensor.trigPin, LOW);

// put the echopin into a high state

// is this necessary ???

pinMode(sensor.echoPin, OUTPUT);

digitalWrite(sensor.echoPin, HIGH);

ts = micros();

if (ts - sensor.ts > 2){

sensor.ts = ts;

sensor.state = ECHO_STATE_TRIG_PULSE_BEGIN;

}

} else if (sensor.state == ECHO_STATE_TRIG_PULSE_BEGIN){

// begin high pulse for at least 10 us

pinMode(sensor.trigPin, OUTPUT);

digitalWrite(sensor.trigPin, HIGH);

ts = micros();

if (ts - sensor.ts > 10){

sensor.ts = ts;

sensor.state = ECHO_STATE_TRIG_PULSE_END;

}

} else if (sensor.state == ECHO_STATE_TRIG_PULSE_END){

// end of pulse

pinMode(sensor.trigPin, OUTPUT);

digitalWrite(sensor.trigPin, LOW);

sensor.state = ECHO_STATE_MIN_PAUSE_PRE_LISTENING;

sensor.ts = micros();

} else if (sensor.state == ECHO_STATE_MIN_PAUSE_PRE_LISTENING){

ts = micros();

if (ts - sensor.ts > 1500){

sensor.ts = ts;

// putting echo pin into listen mode

pinMode(sensor.echoPin, OUTPUT);

digitalWrite(sensor.echoPin, HIGH);

pinMode(sensor.echoPin, INPUT);

sensor.state = ECHO_STATE_LISTENING;

}

} else if (sensor.state == ECHO_STATE_LISTENING) {

// timeout or change states..

int value = digitalRead(sensor.echoPin);

ts = micros();

if (value == LOW) {

sensor.lastValue = ts - sensor.ts;

sensor.ts = ts;

sensor.state = ECHO_STATE_GOOD_RANGE;

} else if (ts - sensor.ts > sensor.timeoutUS) {

sensor.state = ECHO_STATE_TIMEOUT;

sensor.ts = ts;

sensor.lastValue = 0;

}

} else if (sensor.state == ECHO_STATE_GOOD_RANGE || sensor.state == ECHO_STATE_TIMEOUT) {

Serial.write(MAGIC_NUMBER);

Serial.write(6); // size 1 FN + 4 bytes of unsigned long

Serial.write(PUBLISH_SESOR_DATA);

Serial.write(i);

// write the long value out

Serial.write((byte)(sensor.lastValue >> 24));

Serial.write((byte)(sensor.lastValue >> 16));

Serial.write((byte)(sensor.lastValue >> 8));

Serial.write((byte) sensor.lastValue & 0xff);

sensor.state = ECHO_STATE_START;

} // end else if

} // if (sensor.type == SENSOR_ULTRASONIC)

} // end isRunning

} // end for each sensor

// TODO - brake - speed - fractional stepping - other stepper types

for (int i = 0; i < STEPPERS_MAX; ++i) {

stepper_type& stepper = steppers[i];

if (stepper.currentPos != stepper.targetPos){

if (stepper.type == STEPPER_TYPE_SIMPLE){

// direction is already set in initial STEPPER_MOVE

if (stepper.currentPos < stepper.targetPos) {

digitalWrite(stepper.stepPin, 1);

delayMicroseconds(1); // :P should require another state? loop is ~106us min ?

digitalWrite(stepper.stepPin, 0);

stepper.currentPos++;

sendStepperEvent(stepper, STEPPER_EVENT_STEP);

} else if (stepper.currentPos > stepper.targetPos) {

digitalWrite(stepper.stepPin, 1);

delayMicroseconds(1); // :P should require another state? loop is ~106us min ?

digitalWrite(stepper.stepPin, 0);

stepper.currentPos--;

sendStepperEvent(stepper, STEPPER_EVENT_STEP);

}

if (stepper.currentPos == stepper.targetPos){

sendStepperEvent(stepper, STEPPER_EVENT_STOP);

}

// FIXME - fix overflow with getDiff() method !!!

unsigned long now = micros();

loadTime = now - lastMicros; // avg outside

lastMicros = now;

// report load time

if (loadTimingEnabled && (loopCount%loadTimingModulus == 0)) {

// send it

Serial.write(MAGIC_NUMBER);

Serial.write(5); // size 1 FN + 4 bytes of unsigned long

Serial.write(PUBLISH_LOAD_TIMING_EVENT);

// write the long value out

Serial.write((byte)(loadTime >> 24));

Serial.write((byte)(loadTime >> 16));

Serial.write((byte)(loadTime >> 8));

Serial.write((byte) loadTime & 0xff);

}

} // end of big loop

unsigned long getUltrasonicRange(sensor_type& sensor){

// added for sensors which have single pin !

pinMode(sensor.trigPin, OUTPUT);

digitalWrite(sensor.trigPin, LOW);

delayMicroseconds(2);

digitalWrite(sensor.trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(sensor.trigPin, LOW);

// added for sensors which have single pin !

pinMode(sensor.echoPin, INPUT);

// CHECKING return pulseIn(sensor.echoPin, HIGH, sensor.timeoutUS);

// TODO - adaptive timeout ? - start big - pull in until valid value - push out if range is coming close

return pulseIn(sensor.echoPin, HIGH);

}

void sendServoEvent(servo_type& s, int eventType){

// check type of event - STOP vs CURRENT POS

Serial.write(MAGIC_NUMBER);

Serial.write(5); // size = 1 FN + 1 INDEX + 1 eventType + 1 curPos

Serial.write(PUBLISH_SERVO_EVENT);

Serial.write(s.index); // send my index

// write the long value out

Serial.write(eventType);

Serial.write(s.currentPos);

Serial.write(s.targetPos);

}

void sendStepperEvent(stepper_type& s, int eventType){

// check type of event - STOP vs CURRENT POS

Serial.write(MAGIC_NUMBER);

Serial.write(5); // size = 1 FN + 1 INDEX + 1 eventType + 1 curPos

Serial.write(PUBLISH_STEPPER_EVENT);

Serial.write(s.index); // send my index

// write the long value out

Serial.write(eventType);

Serial.write(s.currentPos >> 8); // msb

Serial.write(s.currentPos & 0xff); // lsb

}

void sendError(int type){

Serial.write(MAGIC_NUMBER);

Serial.write(2); // size = 1 FN + 1 TYPE

Serial.write(PUBLISH_MRLCOMM_ERROR);

Serial.write(type);

}

/* SEEMED LIKE A GOOD IDEA NOT !!!!

void sendMsg ( int num, ... )

{

va_list arguments;

// Initializing arguments to store all values after num

va_start ( arguments, num );

// write header

msgBuf[0] = MAGIC_NUMBER;

msgBuf[1] = num;

// copies msg payload to buffer after header

for ( int x = 2; x < num+2; x++ )

{

msgBuf[x] = (byte) va_arg ( arguments, int );

}

va_end ( arguments ); // Cleans up the list

Serial.write(msgBuf, num + 2);

return;

}

basic 5b

but i still get this

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

Build options changed, rebuilding all

Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.

Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.

avrdude: ser_open(): can't set com-state for "\\.\COM4"

avrdude: ser_drain(): read error: The handle is invalid.

Problem uploading to board. See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.

This report would have more information with

"Show verbose output during compilation"

enabled in File > Preferences.

You don't "still" get this

You don't "still" get this error - because the error has changed..

You previously got a different error.

Your previous error complained about duplicate methods defined.

It was a compile error.

The steps involved in uploading a sketch to an Arduino are as follows.

1. compile the sketch
2. upload the sketch

You were stuck on #1 .. now we are on #2 ... which seems like it can't find the com port COM4

have you experimented with Arduinos before? Have you uploaded a basic blink script ?

Read your previous comment ..

Read your previous comment .. Okay so you have a COM4 and a Mega - have you uploaded the blink sketch before ? http://www.ladyada.net/learn/arduino/lesson1.html

basic e

No i did what Alessandro to me to do see below

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

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

Enjoy!

Alessandro

do i need to do the blink?

basic d

ok i did the blink test its blinking

Great .. this is progress ...

Great .. this is progress ... cause ---> effect

step ---> move .. not huge progress just a step .. but wise man said..
Journey of 1000 miles starts with 1 step :)

Ok, when you copy and paste then attempt to upload the sketch it gives you the same error ?

basic e

this is the error message

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.

Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.

avrdude: ser_open(): can't open device "\\.\COM4": The system cannot find the file specified.

avrdude: ser_drain(): read error: The handle is invalid.

Problem uploading to board. See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.

This report would have more information with

"Show verbose output during compilation"

enabled in File > Preferences.

when i go back and do the blink test it works then i try to load mrl i get the above

Wow ok .. that is strange

Wow ok .. that is strange !

I'm glad you did the blink test ...

Very strange ..

So the next thing I would try is to get the latest Arduino device drivers and install them -
https://www.arduino.cc/en/Guide/Windows

If you have already installed these drivers .. then perhaps its a corrupted bootloader issue.. :(

I admire your persistence :)

basics f

Yes ive done that and i have changed to my second arduino mega ( i have two for inmoov ) it works on com6 instead of com4 i have played with the servo knob example script to get the wrist servo to move with an external pot i can do that without any problem but i cant do it through MRL

basic g

Hi again

Im still trying to get MRL to work when i try to upload the sketch i get this error message

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.

Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.

avrdude: ser_open(): can't open device "\\.\COM4": Access is denied.

avrdude: ser_drain(): read error: The handle is invalid.

Problem uploading to board. See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.

This report would have more information with

"Show verbose output during compilation"

enabled in File > Preferences.

can someone tell me what this means thank you

That is rough ... I could see

That is rough ...

I could see why you are asking for help .. something does not seem right...

Would you be interested in trying to coordinate a Chrome Remote Desktop session ?

Like I said - using a computer is primarily a visual experience - a picture says 1000 words and a video feed is 1000 X 32 fps :)

Basic H

Yes I would like the help via remote i have removed everything from my pc ( trying to start over again ) just tell me when to set it up sometime mid week and what time to turn everything on im in central time zone usa ( i think you know that ) my goal will be to move the right hand wrist. Iknow it will be something simple that i have done wrong but i just dont know what

Basic H.1

Hi again GroG

Ok now when i download Chrome Remote Desktop ( ive never done that ) how do you link up with my pc via Chrome Remote Desktop I know it will be next week but im trying to make sure that i know how it works

And you do want MRL and arduino installed, anything else?d

And again thanks for the help

This video explains basically

This video explains basically how it works.
Funny, but their software has changed since the making of the video too :D, but the basic concept is the same.

Getting Started