Wireless programming

The technical solution description and a user manual for wireless programming of Distance Lab.

The Robot

• Load Wireless_bootloader with a program called HapyJTAG2
• Check FuseBits –if Boot vector is enabled
• Fusebits: 90 F7
• Check configuration of the XBee
  

Distancelab Server

Loading the code:

./robocop -r [robot’s number] -f [the hex file name]
./robocop -r 3 -f atmega2561_demo.hex 

Creating reset

./robocop -r [robot’s number] -R
./robocop -r 3 -R

Reading the ADC inputs:

./robocop -r [robot’s number] -a -i [interval (1/10 s)] -n [numbers of readings]
./robocop -r 2 -a -i 1 -n 10

In webserver

RoboCop is Linux based client program for Distancelab robots, it uses if necessary RobotLoader and RobotCharger. The RobotLoader contains bootloader, as the RobotLoader contains a charging program.

Some of the opportunities offered by RoboCop

• Loading the new .hex file to the robot
• XBee pin configuration
• Displaying ADC values on console and saving them on User harddrive in .txt format
• Robot’s wireless module configuration check, check is done wireless
• Configuration of the robot’s wireless module, check is done wireless
• Monitoring the state of the robot and sending it to charge
• Refreshing the info about robots in the Distancelab webpage
  

RoboLoader or wireless bootloader

• Takes into account possible errors arising from the radio communication
• Sends the data by blocks
• Checks the data blocks accuracy with checksum
• In case of error, sends the data again
• Has a reasonabe delays
  

RoboCharger also wireless charging program

• Contains algorithm for finding the charger
• Identifies the beginning of the charging cycle
• Identifies the end of the charging cycle
• Releases the charging station
  

Robocopi oleku kontroll

• Pärib baasist robotite loetelu, olekud, seadistused …
• Kontrollib iga roboti aku pinget, temperatuuri
• Vajadusel muudab roboti olekut (DIO4) active → charge
• Saadab roboti laadima, laeb robotisse RoboCharger programmi
• Muudab roboti olekut Kauglabori veebikeskkonnas
• Salvestab (ADC) parameetrid, analüüsi (graafikute) tarbeks.

RoboCharger

• Contains algorithm for seeking the charging station
• Detects the beginning of charging *
• Takse charging time in consideration just in case if chargind doesn't end
• Checks the tempriture of the batteries, it’s also done by RoboCop
• Detects the end of charging cycle, free’s the charging station in a program
• Changes the robot status charge → active

Usage: robocop [options]

General options:

• -r remote 16 bit address
  
• -f <hexfile.hex> flash robot
  
• -R reset robot
  
• -m maintenance (check batteries)
  

GPIO options

• -g gpio num
  
• -v gpio value (0|1)
  

ADC options

• -a read adc0 value
  
• -n <number> read number of samples
  
• -i <seconds> interval between samples
  
• -A all ADC's
  

Diagnostics options

• -c check remote XBee configuration
  
• -F fix remote XBee configuration
  
• -m test MySQL connectivity
  

Uploading the code

-r3 = robot’s 16 bit address

./robocop -r [robot’s number] -f [hex fail name]
./robocop -r 3 -f atmega2561_demo.hex 

Using the ADC
Reading the ADC inputs:

./robocop -r [robot’s number] -a
./robocop -r 3 -f -a 

Monitoring battery level

./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)]
./robocop -r 3 -a -n 100 -i 1

There will be 100 readings, taken in every 0.1 second, in a console
All input ADC readings

./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)] -A
./robocop -r 3 -a -n 100 -i 1 -A

Other operations

XBee configuration control

./robocop -r [robot’s number] -c
./robocop -r 3 -c

Improving the XBee configuration

./robocop -r [robot’s number] -F
./robocop -r 3 -F

Creating reset

./robocop -r [robot’s number] -R
./robocop -r 3 -R

GIPO pin configuration

./robocop -r [robot’s number] -g [pin number] -v [1|0]
./robocop -r 3 -g 4 -v 1

g4 is XBee pin DIO4 and v1 means this pin is set to high

Locking
Using multiple RoboCop program is not a problem. User will wait in gueue until robot is free or time run’s out.