RoRoRoomba - Ruby on Rails on Roomba Railsconf 2012

RoRoRoomba

Roomba on Ruby on Rails

Friday, April 27, 2012

Thanks!

• Nancy Dussault-Smith

• Joshua Lifton

• and iRobot for the Roombas!

Thanks!

Introductions

My Roomba

• Charles Abbott

• Life in Japan www.forthecode.org

• “The greatest obstacle...

konnichiwa

“The greatest obstacle to discovery

“Greatest obstacle...

“The greatest obstacle to discovery is not ignorance

“The greatest obstacle to discovery is not ignorance, but

“The greatest obstacle to discovery is not ignorance, but the illusion of knowledge” - Daniel J. Boorstin

“Hack Me”

3 R’s

tokyorails.org

Roomba

Roomba on Ruby on Rails

• SerialPort + Ruby controls Roomba

• Rails site that routes remote requests

• ???

• Profit!

Resources• http://hackingroomba.com/ (Open

source Java package)

• http://www.dprg.org/projects/2009-07a/

• http://roombahacking.com/roombahacks/roombacmd/

• http://www.arduino.cc/

Getting Started

Getting Supplies

and then...

my firstborn

Back on Track

Arduino LayoutRX = receiveTX = transmit

iRobot OI or SCI?

ROI? API?

Wired Up

Roomba + ArduinoWhat’s next?

Arduino Sandwich

Arduino Sketches

void setup(){}

void loop(){}

Example Roomba Sketch

Debugging Arduino

Debugging Pains

[137] [255] [56] [1] [244]

Disconnect, Connect, Disconnect

Headless

Documentation woes

Past First Base

Arduino

Arduino Wireless XBEE

Bluetooth

USB to Serial

Where to Start?

Simple Serial

Writing Code

def initialize(port, baud=115200)

@serial = SerialPort.new(port, baud, 8, 1, SerialPort::NONE)

sleep 0.2 api_setup_start sleep 0.1 api_setup_control

Writing Opcodes # Must call this first to start the serial command interface def api_setup_start write(128) end

# Enables user control of Roomba, puts SCI in safe mode def api_setup_control write(130) end

# Starts a normal cleaning cycle. def api_clean write(135) end

Modeling the ROI # api_drive(255, 0, 0, 0) //go backward # api_drive(0, 255, 0, 0) //go forward # api_drive(0, 0, 0, 0) // stop def api_drive(velocity_high, velocity_low, radius_high, radius_low) write(137, velocity_high, velocity_low, radius_high, radius_low) end

Complex Write and Read def api_querylist(*bytes) write(149, bytes.length, *bytes) wait_for_rx read end

The Bottom of the Barrel

def write(*args) args.each do |a| @serial.write a.chr end end

The Bottom of the Barrel

def read(timeout=50) @serial.read_timeout= timeout bytes = [] until (x = @serial.getbyte).nil? bytes.push(x) end bytes end

Pulling it Together

ls /dev/tty.*find your serial device

then jump into rails console

roo = Roomba.new(“/dev/tty.usbserial-xxx”)=> #<Roomba:0x00000103e5bec0 @serial=#<SerialPort:fd 9>>

“Hello Roomba” Demo

“Don’t Assume It--Prove It”- Tip, The Pragmatic Programmer

Forgetting to say “when”Pitfall #1

Status Reports

Flash Your Signdown the rabbit hole

Binary and Signed Integersdown the rabbit hole

Dealing With Binarydown the rabbit hole

def signed_integer(bytes) case bytes.size when 1 return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7)) when 2 sixteenbit = bytes[0] << 8 | bytes[1] return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15)) end end

learn more: http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement

A Hex Digressiondown the rabbit hole

Better Abstraction

Distance & Time

# distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200)

distance = distance.to_i.abs #distance can never be negative

if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS time_in_seconds = calculate_spin_time(velocity, degree) else time_in_seconds = (distance.to_f / velocity.to_f).abs end

High Byte, Low Byte # distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200) distance = distance.to_i.abs #distance can never be negative if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS # wheelbase might be different for different roombas time_in_seconds = calculate_spin_time(velocity, degree) # now that we know how long to spin, set degree to 1 so it will spin roomba instead of put it on an arc degree = 1 else time_in_seconds = (distance.to_f / velocity.to_f).abs end

set_velocity(velocity) set_degree(degree)

api_drive(@velocity_high, @velocity_low, @radius_high, @radius_low)

start_moving = Time.now

until (start_moving - Time.now).abs >= time_in_seconds sensors = get_readings(:bumps_and_drops, :wall) break if sensors[:bumps_and_drops][:formatted].to_i(2) > 0 end

api_drive(0,0,0,0) sensors

‘Move’ Demo

L...a...te..n....c..yPitfall #2

no!...Friday, April 27, 2012

Cut out the Middle Men

*Arduino is still awesome, and I encourage you to try it.

What Freedom Looks Like

Logic Level Converter

http://www.sparkfun.comhttp://www.sparkfun.com

Prototyping!

SerialPort || TCPSocket

All we need is an IP address and a Port!

Connected and then...

............................never ending silence..........

UniversalAsynchronousReceiver (RX)

Transmitter (TX)

UART an Angel

All you get is #$@#!Pitfall #3

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.-....Z.

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.2....V.

.-....^.

.%....Q.

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.5....N.

.5....P.

.3....O.

Solution #1: RTFM

Solution #2: Factory Defaults

Solution #3: RTFM, again...

Wifly ConfigurationP195:~ charles$ telnet 169.254.1.1 2000Trying 169.254.1.1...Connected to 169.254.1.1.Escape character is '^]'.*HELLO*$$$CMDset comm close 0AOK<2.23>set comm open 0<2.23>set sys printlvl 0<2.23> saveStoring in config<2.23> reboot

Pretty Prototype...

Roomba Wifi

3 Final Hurdles

nope nope huh?

Wifly Option (a)Hurdle 1

“Hold, hold,...Hurdle 1

Wifly Option (b)Hurdle 1

The Stateless Web Tax

def initialize(port, baud=115200) sleep 0.2 api_setup_start sleep 0.1 api_setup_control

Hurdle 2

Device Busy

OK Errno::EBUSY: Resource busy

CONCURRENTREQUESTS

Hurdle 3

Socket Server

Roomba Socket Serverstartserver = TCPServer.open(port) # Socket to listen onroomba = Roomba.new(location)

Thread.abort_on_exception = trueloop do puts "Roomba Socket Server Running! (15 second timeout)" Thread.start(server.accept) do |client|

# => Read the incoming TCP Socket request # => Pass the command to the roomba client.close # Disconnect from the client endend

Pseudocode

Hurdle 2 & 3

Extended Demo

“Coding Ain’t Done ‘Til All The Tests Run”- Tip 63, The Pragmatic Programmer

Looking Forward

Testing Drones

• How do you run software tests on something in the physical world?

Roomba Simulator

Test the Simulation

Compare with Live Test

Bring it!

Simulator Scenarios

Challenges

If i tape a marker on Roomba...Map out a room...

Physical Computing?

Jeremiah Palecek http://nerdkore.com

Why you should care.

By 2020

Ericsson White Paper 284 23-3149 Uen | February 2011

Already

http://techcrunch.com/2012/02/14/the-number-of-mobile-devices-will-exceed-worlds-population-by-2012-other-shocking-figures/

“By 2016, there will be 1.4 mobile devices per capita. That year, there will be over 10 billion mobile-connected devices, including machine-to-machine (M2M) modules.”

People then Things

Ericsson White Paper 284 23-3149 Uen | February 2011

People and Things

https://trandi.wordpress.com/2011/09/26/vfd-clock-connects-to-the-internet/

People and Things

http://lifeboat.co.nz/the-finished-wireless-water-sensor/Friday, April 27, 2012

Just Getting Started

“A Pragmatic Philosophy”

Invest Regularly in Your Knowledge Portfolio

- Tip 8, The Pragmatic Programmer

“Simon Stevin!”

An Eccentric

Who is Simon Stevin?•waterway, spillways, sluices•navigation, steering•interest rate tables•The Art of Fortification •Copernican system

•treatise on perspective•musical tuning•civil unrest handbook•Trigonometry

•hydrostatic paradox•optics, geography, philosophy•and more...

1585, De Thiende

“The Tenths”35pg

Changes the World

“What seems a wonder, is not really a wonder.” - Simon Stevin

Fork it!

github.com/tokyorails

Charles Abbottwww.forthecode.org

RoRoRoomba

RoRoRoomba - Ruby on Rails on Roomba Railsconf 2012

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