Pratical course Telebot Lecture4 Telebot software final ... · Testing your soft cod Dr. ZHANG, Houxiang Institute TAMS Technical Aspects of Multimodal Syste m Multimodal System cs,

Technical Aspects of Dept. Informatics, Faculty of Mathemati

University of

PraktikPraktikTelebotTelebot systemsystem

Lecturers

Manfred GroveHouxiang Zhang

TAMS, Department of InformaticsUniversity of Hamburg, Germany

Dr. ZHANG, HouxiangInstitute TAMS Technical Aspects of Multimodal System

Multimodal Systemics, Informatics and Natural Sciencesf Hamburg

kum: 4kum: 4 m environmentm environment

@Tams group

[email protected] http://tams-www.informatik.uni-hamburg.de/hzhang 1


University of





University of

Content of today’ s l● Program introduction

● Telebot program environment– Overview

– Example

● Your task



ecture



University of

Content of today’ s l● Program introduction


– Example

● Your task



ecture



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C++ Introduction● Structure of a program● Variables, data types● Constants● Operators

Y t h l i● You can get more help in – http://www.cplusplus.com/doc/tMore online documents● More online documents.– http://tams-www.informatik.uni-

hamburg.de/people/hzhang/projects/Te



tutorial/

elerobotDocument/index.htm



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Structure of a progra

#include <iostream>using namespace std;using namespace std;

int main () { "H ll W ld!" dl{ cout << "Hello World!" << endl;

return 0;}}

Please use g++ compilerPlease use g++ compiler.



am

Hello World!



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Variables & data typ● Global variables● Local variables● Constants● Operators



pes// operating with variables #include <iostream> using namespace std; int main (){// declaring variables: int a, b; int result; // process:a = 5; b = 2; a = a + 1;result = a - b; // print out the result: cout << result << endl;;// terminate the program: return 0;}


}


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Control Structures● If and else● Iteration structures (Loops)

– while loop

– do-while loop

– for loop

● The selective structure: switch





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Functions● Defining functions and methods● Calling functions and methods

The result is 8



// function example#include <iostream> using namespace std;g p ;int addition (int a, int b){

int r; r=a+b; return (r); ; ; ( );}

int main ()t a (){ int z;z = addition (5,3);cout << "The result is " << z << endl;cout The result is z endl; return 0;

}



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Object-oriented Prog#include <iostream>

● Class ● Object

using namespace std;class CLrect {float x,y;public:public:

CLrect(void);CLrect(float, float);

void set_values(float, float);float area() { return(x*y);};float area() { return(x y);};};

CLrect::CLrect(void)// Konstruktor 1{} // besser z B : x= 0{} // besser z.B.: x= 0

CLrect::CLrect(float a, float b) // Konstruktor 2

{ b }

Fläche: 12Fläche2:24

{ x= a; y= b; }

void CLrect::set_values(float a, float b){ x= a; y= b; }



gramming (OOP)

int main(){ CLrect R;

0 0; y= 0 0;

{ CLrect R;CLrect *R2 = new CLrect(3.0, 8.0);R.set_values(3.0, 4.0);cout << "Fläche: " << R.area() << endl;cout << "Fläche2= " << R2 >area() <<endl;0.0; y= 0.0; cout << "Fläche2= " << R2->area() <<endl;return 0; }



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Content of today’s le● Program introduction


– Example

● Your task



ecture



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How to program the ● First build your telebot

● Task description: – If there is an object in front of the

t l b t it If t it t Thtelebot, it moves. If not, it stops. The Robot works without connecting to the GUI.



Telebot?



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Building the mechan



nical system



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Programming the rob#i l d "T l b h" //i#include "Telerobot.h" //impoint main(int argc, char *argv[ ]){

Telerobot *t=new Telerobot; //createTelerobot t new Telerobot; //createt->robotConnect(); // connet->initial(); //initialt->ask(); //gets thwhile (!t->Stop_flag) //check

{ if (!t->Pause_flag) //che{ if (t->getSensor1()) t->mo

//if sens//if senselse t->stop(); //else ro};

t->checkGuiCommand();};

t->missionOver(); //missiot->robotDisconnect(); //discon

}


}


both T l b h d filort the Telerobot head file

e a telerobot objecte a telerobot objectect the telerobot and your PCization the telerobot

he sensor feedbackif mission shoud be canceledck if mission should be paused

oveForward(90); or1 is true robot moves forward with 90% speedor1 is true robot moves forward with 90% speed

obot stops

on over, buzzer pipes. nnect the telerobot



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Compiling the progra● Compile your code with g++

– g++ -L. –o destination_file_name co

– or

– g++ -L. –o destination_file_name co

● The API library can be found on th– http://tams-www.informatik.uni-

hamburg.de/people/hzhang/projectsDateien/Page751.htm



am

ode_file_name.cpp -lTelerobotLibrary

ode_file_name.cpp Telerobot.cpp

he TAMS web page.

s/TelerobotDocument/index-



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Correct use of sensor● Task: Move forward until an obst

Wrong !!Wrong !!

…..t->moveForward(50);while (!getSensor1())

…t->wh

while (!getSensor1()) ;

t->stop();……….

//// //t-t-…



rs in your programacle is found

CCorrect

…..>moveForward(50);hile (!getSensor1())

t->ask();

or t->moveForward(50);

>stop();>stop();……….



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Using analogue sens● Sensorchannels 6 and 7 can supp

you connect one of the optical sens

● For every method using digital sensusing analogue sensors on channelusing analogue sensors on channel

F l● For example:Digital: ask() Analogu

i h ( 0)moveRight(50)



ors (1)ly analogue values, whensors to them (8 Bit)

sors there is a corresponding method 6 and 76 and 7

ue: ask_Asensor()i h A ( 0) moveRight_Asensor(50)



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Using analogue sens● You can get the analogue values by

getAnalogueSensor6()and/or

getAnalogueSensor7()

Both return an (unsigned) char (1



ors (2)y calling the methods

byte)



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Writing standalone p● You don’t need MCGUI to run a

● If you are writing a standalone prog

! Delete all calls to checkGuiCommand()

! After creating the telebot-objeg jsetmyoutput(true)



programs program using the Telebot.

gram you should

(important !)

ect call the method



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Testing your soft cod● First check your hardware with CG



de with the TelebotGUI application



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Testing your soft cod



de with the Telebot



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Testing your soft cod● Execute your program on a Linux c



de with the Telebotconsole



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Content of today’s le● Program introduction


– Example

● Your task



ecture



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Your task ( after a 15● Following a line



5-min-break)



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Execute your code on a Linux console ExecContr



ute your code on the MCGUI(Monitor and rol GUI)



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How to use MCGUI?● Type in the execute code path● Load● Start the mission● Terminate the mission



?



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Implementation• Building the mechanical system• Programming• Testing





University of

Building the mechan



nical system



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Programming the rob



bot



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Do it on yDo it on y



your own…your own…



University of

PraktikumPraktikumTelebotTelebot sensorssensors

Lecturers

Houxiang ZhangManfred Grove

TAMS, Department of InformaticsUniversity of Hamburg, Germany



m: 5 & 6m: 5 & 6s and actuatorss and actuators

@Tams group



University of

Thanks for yo

Any quAny qu



our attention!

uestions?uestions?


Documents

Pratical course Telebot Lecture4 Telebot software final ... · Testing your soft cod Dr. ZHANG, Houxiang Institute TAMS Technical Aspects of Multimodal Syste m Multimodal System cs,