Stingray Sample / Demo Code?
Hi,
I am kind of shocked, but I have not been able to find any basic demo or sample code for getting started with the Stingray robot. It seems like a basic resource for the out-of-the-box Stingray kit would be useful. At least something simple...go forward, spin in circles, gradual turn, reverse...that kind of thing. ANYTHING, really. I was also surprised to find that searching the OBEX for "Stringray" turns up nothing at all.
Anyway, does anybody have some basic code that would make the Stingray do something? No sensors, just the kit, freshly assembled from the box. It's a long story, but I basically had 4 hours of time given to me at work to assemble the kit and make it do something interesting. However, since it took me 3 hours to assemble, there's no way I can make it do something useful in an hour starting from scratch. I had sort of thought that it would come pre-loaded with a cool demo like the Prop. Demo Board, but no luck.
Thanks!
I am kind of shocked, but I have not been able to find any basic demo or sample code for getting started with the Stingray robot. It seems like a basic resource for the out-of-the-box Stingray kit would be useful. At least something simple...go forward, spin in circles, gradual turn, reverse...that kind of thing. ANYTHING, really. I was also surprised to find that searching the OBEX for "Stringray" turns up nothing at all.
Anyway, does anybody have some basic code that would make the Stingray do something? No sensors, just the kit, freshly assembled from the box. It's a long story, but I basically had 4 hours of time given to me at work to assemble the kit and make it do something interesting. However, since it took me 3 hours to assemble, there's no way I can make it do something useful in an hour starting from scratch. I had sort of thought that it would come pre-loaded with a cool demo like the Prop. Demo Board, but no luck.
Thanks!
Comments
CON _xinfreq = 5_000_000 _clkmode = xtal1 + pll16x lmforward = 25 lmbackward = 24 rmforward = 26 rmbackward = 27 period = 5000 'for PWM object basespeed = 22 OBJ pwm : "PWM_32_v2" PUB Main pwm.start 'your code {if(binout == 1) 'turn slightly right calculatemotor(20,20) elseif(binout == 1) ' turn slightly left calculatemotor(-20,20) elseif(binout[noparse][[/noparse]0] == 1) 'Turn harder right calculatemotor(35, 0) elseif(binout == 1) calculatemotor(-35,0) 'turn harder left else 'if(binout == 1 or binout == 1) 'go straight calculatemotor(0,20) } PUB calculatemotor(turnrate, speed) { A turn rate of 0 is straight, -100 is full left, 100 is full right speed is how fast to "turn" minimum, used for going straight, + is forward, - is backwards -Units same as above } speed := -100 #> speed <# 100 turnrate := -100 #> turnrate <# 100 if turnrate == 0 if(speed => 0) 'Go straight forward pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(lmforward, speed, period) pwm.duty(rmforward, speed, period) else 'Go straight backwards ||speed pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(lmbackward, ||speed, period) pwm.duty(rmbackward, ||speed, period) elseif(turnrate > 0) 'turn right if(speed => 0) 'Go on a curve forward right pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(lmforward, (speed+turnrate)<#100, period) pwm.duty(rmforward, speed, period) else 'Go on a curve backwards right pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(lmbackward, (||speed+turnrate)<#100, period) pwm.duty(rmbackward, ||speed, period) elseif(turnrate < 0) 'turn left ||turnrate if(speed => 0) 'Go on a curve forward left pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(rmforward, (speed+turnrate)<#100, period) pwm.duty(lmforward, speed, period) else 'Go on a curve backwards left pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(rmbackward, (||speed+turnrate)<#100, period) pwm.duty(lmbackward, ||speed, period)▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Powered by enthusiasm
The Stingray was designed to be an advanced robotics platform which could be adapted to a variety of purposes. This is one reason the control board was set up the way it was. I totally understand your frustration at not seeing code specifically labeled as being for the Stingray.
The PWM code that SRLM refers to was written with the Stingray in mind. It was not labeled for the Stingray because it is useful in many applications, however if a custom object had been written that was specific to the Stingray, the name would have carried over. Page 24 of the documentation mentions using the PWM_32 object for a drive system, however existing code had not been created pending determination of initial sensors configurations. That is, I had hoped to see what types of sensors customers would be connecting to the Stingray in order to develop some useful code for driving the wheels using PWM_32 which would work well with the common sensor configuration.
In all fairness to Parallax this is an error on my part. Demand was there to release the Stingray before we had any accessories for it and I have been somewhat content to watch and see what others have come up with given the basic hardware and software. Currently I am working on an encoder object and accessory for the wheels. This (in my opinion) is the first step toward driving (pun intended) this robot forward in a straight line.
When Parallax opens back up after the New Year I intend to have a working example of using the wheel encoders with some other sensors to roam the Stingray autonomously. This will be a first step toward line following, GPS navigation, and object tracking that I will be working on during the first few months of the coming year. Parallax values our customer input, so during that time I will also be revisiting the comments, suggestions and feedback provided by you, the customer, to see what items we can address to make the Stingray a more complete and well-rounded package. Thanks again for your input and stay tuned! There’s more to come!
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Chris Savage
Parallax Engineering
Check out the new Savage Circuits TV!
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I've already got the Pings for Stingray kit installed, and I also have a H55B Compass Module, Memsic Dual-Axis Accelerometer, and PIR Sensor that I intend to use with the Stingray.
I would like to eventually get my Stingray roaming around my house (perhaps keeping some sort of mapping of the area) autonomously! Mostly just to chase my 2 cats around (or be chased by them once they get used to it). [noparse]:)[/noparse]
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The encoder object will be package with a demo object that uses the PING))) sensors as well. Autonomous roaming is nice and the early plans. But I know the customers want more and Parallax plans to provide it. Once the encoders are done every other accessory will be the better for it. It really needs to be done before we can move on. But, just picture GPS navigation and other things you could do where the robot is not just wandering around avoiding things. That is the real end goal. Take care.
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Chris Savage
Parallax Engineering
Check out the new Savage Circuits TV!
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In the meantime, I am attempting to get the compass and accelerometer wired up on the breadboard and write some code to use them as best I can with what I've got.
I have used the demo code from the site for the PING))) sensors on the Stringray and that works reasonably well on the hard floors, but in my carpeted areas it mostly just slows and stops. I think the carpet is messing with the sound bounce back or something.
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On plush carpets the PING))) sensors randomly get echoes back, especially if they're mounted on the lower holes of the sensor mounting plates. Since the code is designed to move the robot at a speed proportional to its distance from an object, this inherently makes the robot crawl along. We'll get the bugs worked out. There is a lot of potential here waiting to be unlocked and tapped. Take care.
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Chris Savage
Parallax Engineering
Check out the new Savage Circuits TV!
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I am confident you guys will figure stuff out (or the community here will help), and I agree about the potential that needs to be tapped and unlocked, I hope to help do some of that.
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Check out the Propeller Wiki·and contribute if you can.
CON _xinfreq = 5_000_000 _clkmode = xtal1 + pll16x lmforward = 25 lmbackward = 24 rmforward = 26 rmbackward = 27 period = 5000 'for PWM object basespeed = 22 'Robot Rate Constants STOP = 0 SUPERSLOW = 2 SLOW = 15 MEDIUM = 35 FAST = 60 SUPERFAST = 85 MAXSPEED = 100 'Pause Duration Constants DELAY_S = 2 LONG_DELAY_S = 5 DELAY_MS = 25 LONG_DELAY_MS = 50 OBJ pwm : "PWM_32_v2" utils: "Utilities_Library" PUB Main | i pwm.start ''MARCH! calculatemotor(0,MEDIUM) 'go forward slowly... utils.pauses(DELAY_S) '...for this long calculatemotor(0,-MEDIUM) 'go backward slowly... utils.pauses(DELAY_S) '...for this long calculatemotor(MEDIUM,0) 'spin right slowly... utils.pauses(DELAY_S) '...for this long calculatemotor(-MEDIUM,0) 'spin left slowly... utils.pauses(DELAY_S) '...for this long calculatemotor(SLOW,MEDIUM) 'forward and right turn utils.pauses(DELAY_S) '...for this long calculatemotor(SLOW,-MEDIUM) 'backward and right turn utils.pauses(DELAY_S) '...for this long ''HALT! calculatemotor(STOP,STOP) 'stop... utils.pauses(LONG_DELAY_S) '...for this long ''SPIN CYCLE! repeat i from SUPERSLOW to SUPERFAST 'Spin right with increasing speed calculatemotor(i,0) utils.pausems(DELAY_ms) repeat i from SUPERFAST to SUPERSLOW 'Spin right with decreasing speed calculatemotor(i,0) utils.pausems(DELAY_ms) repeat i from SUPERSLOW to MAXSPEED 'Spin left with increasing speed calculatemotor(-i,0) utils.pausems(DELAY_ms) repeat i from MAXSPEED to SUPERSLOW 'Spin left with decreasing speed calculatemotor(-i,0) utils.pausems(DELAY_ms) ''HALT! calculatemotor(STOP,STOP) 'stop... utils.pauses(LONG_DELAY_S) '...for this long ''TIGHT SPIN CYCLE!!! repeat i from SUPERSLOW to SUPERFAST 'Tight spin right with increasing speed spinner(i) utils.pausems(LONG_DELAY_MS) repeat i from SUPERFAST to SUPERSLOW 'Tight spin right with decreasing speed spinner(i) utils.pausems(LONG_DELAY_MS) repeat i from SUPERSLOW to SUPERFAST 'Tight spin left with increasing speed spinner(-i) utils.pausems(LONG_DELAY_MS) repeat i from SUPERFAST to SUPERSLOW 'Tight spin left with decreasing speed spinner(-i) utils.pausems(LONG_DELAY_MS) ''ALL DONE! spinner(0) 'stop PUB calculatemotor(turnrate, speed) { A turn rate of 0 is straight, -100 is full left, 100 is full right speed is how fast to "turn" minimum, used for going straight, + is forward, - is backwards -Units same as above } speed := -100 #> speed <# 100 turnrate := -100 #> turnrate <# 100 if turnrate == 0 if(speed => 0) 'Go straight forward pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(lmforward, speed, period) pwm.duty(rmforward, speed, period) else 'Go straight backwards ||speed pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(lmbackward, ||speed, period) pwm.duty(rmbackward, ||speed, period) elseif(turnrate > 0) 'turn right if(speed => 0) 'Go on a curve forward right pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(lmforward, (speed+turnrate)<#100, period) pwm.duty(rmforward, speed, period) else 'Go on a curve backwards right pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(lmbackward, (||speed+turnrate)<#100, period) pwm.duty(rmbackward, ||speed, period) elseif(turnrate < 0) 'turn left ||turnrate if(speed => 0) 'Go on a curve forward left pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(rmforward, (speed+turnrate)<#100, period) pwm.duty(lmforward, speed, period) else 'Go on a curve backwards left pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) pwm.duty(rmbackward, (||speed+turnrate)<#100, period) pwm.duty(lmbackward, ||speed, period) PUB spinner(rate) { Rotates both wheels in opposite directions to spin the robot. A rate of 0 is stopped, -100 is full left spin, 100 is full right spin } rate := -100 #> rate <# 100 'bounds check if rate == 0 'Stop pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, 0,0) pwm.duty(rmforward, 0,0) pwm.duty(lmforward, 0,0) elseif rate > 0 'Spin right pwm.duty(rmbackward, 0,0) pwm.duty(lmbackward, rate, period) pwm.duty(lmforward, 0,0) pwm.duty(rmforward, rate, period) elseif rate < 0 'Spin left pwm.duty(rmbackward, ||rate, period) pwm.duty(lmbackward, 0,0) pwm.duty(lmforward, ||rate, period) pwm.duty(rmforward, 0,0)Oh, and the couple "pause" routines I used from my utils library are very simple:
PUB pauses(time) | clocks '' Pause for number of seconds if time > 0 clocks := (clkfreq * time) waitcnt(clocks + cnt) PUB pausems(time) '' Pause for number of milliseconds pause(time) PUB pause(time) | clocks '' Pause for number of milliseconds if time > 0 clocks := ((clkfreq / 1000) * time) waitcnt(clocks + cnt)Thanks
As always Parallax is my favorite...
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http://www.parallax.com/Store/Books/Propeller/tabid/171/CategoryID/45/List/0/Level/a/ProductID/541/Default.aspx?SortField=ProductName%2cProductName
Dave
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Dave Andreae
Parallax Tech Support·
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Powered by enthusiasm
Well, now at least you have my silly little demo code (thanks to SRLM).
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Check out the Propeller Wiki·and contribute if you can.
The StingRay had GPS, HM55B compass, and originally 5 Pings, 3 on the front and 2 facing down on aluminium plates on the bottom of the bot for edge detection, but we scrapped the downward pings because they weren't in front of the bot far enough so they weren't useful. Also we were getting false positives when on tarmac with lots of bumps in.
Hope the community can make some use of it. I have ideas on how to improve it but since I don't get to play with the thing anymore...
Floating Point Maths takes a while doesn't it [noparse];)[/noparse]
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I'm either going mad or both...
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Whit+
"We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths." - Walt Disney
Something I forgot to mention, but I'm not sure if here it will ever get noticed.. the first compass object that I used was incompatible with the GPS module. For some reason the Red LED would begin blinking again a few seconds after starting the compass cog, and only by using another object was it solved.
Also, the Ping module, "required" the 'FullDuplexSerial' object, because I would get some very odd behaviour when it wasn't included. I don't know if anyone would be able/bothered to rig it up the same way I had it, but I am curious to know
Pete
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I'm either going mad or both...