RoboRealm MCU Examples / Help Needed
SteveWoodrough
Posts: 190
Well Ive gotten this far with my Robo Magellan project:
https://www.youtube.com/watch?v=8eACDNHX7Lw
and now Ive decided to add some vision.
Does anybody have experience they can share on using the Propeller_Communicator.Spin object and the RoboRealm MCU module?
Robo Realm (RR) seems like a pretty low cost, powerful enough tool, and Ive spent a few hours messing with it and I can now drive my Magellan Bot around the basement with BT and a mouse using the RR Serial module. The Serial module passes serial data to and from RR, but you cannot really associate data to a variable within RR.
What I want to do next is to get data from the Prop into RR using the MCU module. From what I can tell looking at the code below the key is the mailboxes, but Im not real sure exactly how this is supposed to work. RR did not have any examples and I could not come up with much on Google or Forum searches.
Below is the spin code for the communicator from the RR website:
I just need a nudge in the right direction.
Best Regards,
Steve
https://www.youtube.com/watch?v=8eACDNHX7Lw
and now Ive decided to add some vision.
Does anybody have experience they can share on using the Propeller_Communicator.Spin object and the RoboRealm MCU module?
Robo Realm (RR) seems like a pretty low cost, powerful enough tool, and Ive spent a few hours messing with it and I can now drive my Magellan Bot around the basement with BT and a mouse using the RR Serial module. The Serial module passes serial data to and from RR, but you cannot really associate data to a variable within RR.
What I want to do next is to get data from the Prop into RR using the MCU module. From what I can tell looking at the code below the key is the mailboxes, but Im not real sure exactly how this is supposed to work. RR did not have any examples and I could not come up with much on Google or Forum searches.
Below is the spin code for the communicator from the RR website:
I just need a nudge in the right direction.
Best Regards,
Steve
CON
_clkmode = xtal1 + pll16x
_xinfreq = 5_000_000
rxpin = 31 ' Receive on I/O pin 1 <- black from master black txpin p1
txpin = 30 ' Transmit on I/O pin 0 -> red to master red rxpin p0
ServoCh1 = 0 'Steering servo
ServoCh2 = 4
MCU_GET_ID = 1
MCU_END_FRAME = 2
MCU_SET_NUMBER_MAILBOX = 3
MCU_SET_TEXT_MAILBOX = 4
MCU_SET_LOGIC_MAILBOX = 5
MCU_GET_NUMBER_MAILBOX = 6
MCU_GET_TEXT_MAILBOX = 7
MCU_GET_LOGIC_MAILBOX = 8
VAR
BYTE mailboxToSend[20]
BYTE mailboxSendFlag[20]
LONG intValue[20]
BYTE logicValue[20]
LONG textValue[20]
BYTE textStore[1024]
LONG textStoreTop
BYTE buffer[8]
BYTE command
BYTE crc
BYTE mailbox
LONG hold
LONG i,j
LONG lvalue
LONG tvalue
OBJ
serial : "FullDuplexSerial" ' "Extended_FDSerial" ''
f : "Float32Full"
SERVO : "Servo32v7.spin"
PUB Main | DutyCycle ' new stuff DutyCycle
dira[16]~~
serial.start(rxpin,txpin,%0000, 115200) '- rxpin,txpin,mode,Baud
textStoreTop := 0
repeat
repeat
command := serial.rx
while command & 128 == 0
crc := command
command := command ^ 128
case command
MCU_GET_ID:
serial.Str(String("MCUC"))
MCU_SET_NUMBER_MAILBOX:
if ((buffer[0] := serial.rx)&128)
next
crc ^= buffer[0]
if ((buffer[1] := serial.rx)&128)
next
crc ^= buffer[1]
if ((buffer[2] := serial.rx)&128)
next
crc ^= buffer[2]
if ((buffer[3] := serial.rx)&128)
next
crc ^= buffer[3]
if ((buffer[4] := serial.rx)&128)
next
crc ^= buffer[4]
if ((buffer[5] := serial.rx)&128)
next
crc ^= buffer[5]
if ((buffer[6] := serial.rx)&128)
next
if ((crc&127)<>buffer[6])
next
intValue[buffer[0]] := buffer[1]|(buffer[2]<<7)|(buffer[3]<<14)|(buffer[4]<<21)|(buffer[5]<<28)
mailboxToSend[buffer[0]] := 0
MCU_SET_LOGIC_MAILBOX:
if ((buffer[0] := serial.rx)&128)
next
crc ^= buffer[0]
if ((buffer[1] := serial.rx)&128)
next
crc ^= buffer[1]
if ((buffer[2] := serial.rx)&128)
next
if ((crc&127) <> buffer[2])
next
logicValue[buffer[0]] := buffer[1]
mailboxToSend[buffer[0]] := 0
MCU_SET_TEXT_MAILBOX:
if ((mailbox := serial.rx)&128)
next
crc ^= mailbox
hold := textStoreTop
textStoreTop--
repeat
textStoreTop++
textStore[textStoreTop] := serial.rx
crc^=textStore[textStoreTop]
while (textStoreTop<1024)&(textStore[textStoreTop]<>0)
textStoreTop++
if ((crc&127)<>serial.rx)
textStoreTop := hold
next
textValue[mailbox] := @textStore[hold]
mailboxToSend[mailbox] := 0
{ stream values to mailbox }
MCU_GET_NUMBER_MAILBOX:
mailbox := serial.rx
if (((crc^mailbox)&127)<>serial.rx)
next
mailboxToSend[mailbox] := MCU_GET_NUMBER_MAILBOX
MCU_GET_LOGIC_MAILBOX:
mailbox := serial.rx
if (((crc^mailbox)&127) <> serial.rx)
next
mailboxToSend[mailbox] := MCU_GET_LOGIC_MAILBOX
MCU_GET_TEXT_MAILBOX:
mailbox := serial.rx
if (((crc^mailbox)&127) <> serial.rx)
next
mailboxToSend[mailbox] := MCU_GET_TEXT_MAILBOX
MCU_END_FRAME:
processMailboxes
{ note that Text values are lost after being processed as we }
{ will reuse the buffer for the next frame }
textStoreTop:=0
repeat i from 0 to 19
if (mailboxToSend[i]<>0)&(mailboxSendFlag[i]<>0)
case (mailboxToSend[i])
MCU_GET_NUMBER_MAILBOX:
lvalue := intValue[i]
serial.tx(buffer[0]:=MCU_GET_NUMBER_MAILBOX|128)
serial.tx(buffer[1]:=i)
serial.tx(buffer[2]:=lvalue&127)
serial.tx(buffer[3]:=(lvalue>>7)&127)
serial.tx(buffer[4]:=(lvalue>>14)&127)
serial.tx(buffer[5]:=(lvalue>>21)&127)
serial.tx(buffer[6]:=(lvalue>>28)&127)
serial.tx((buffer[0]^buffer[1]^buffer[2]^buffer[3]^buffer[4]^buffer[5]^buffer[6])&127)
MCU_GET_LOGIC_MAILBOX:
serial.tx(buffer[0]:=MCU_GET_LOGIC_MAILBOX|128)
serial.tx(buffer[1]:=i)
serial.tx(buffer[2]:=logicValue[i]&127)
serial.tx((buffer[0]^buffer[1]^buffer[2])&127)
MCU_GET_TEXT_MAILBOX:
tvalue := textValue[i]
serial.tx(buffer[0]:=MCU_GET_TEXT_MAILBOX|128)
serial.tx(buffer[1]:=i)
crc := buffer[0]^buffer[1]
j := 0
repeat while (byte[tvalue[j]] <> 0)&(j<254)
byte[tvalue[j]] &= 127
crc ^= byte[tvalue[j]]
j++
j++
buffer[2] := crc&127
serial.tx(buffer[0])
serial.tx(buffer[1])
serial.str(tvalue)
serial.tx(buffer[2])
mailboxSendFlag[i] := 0
PUB processMailboxes
{ Assumes values for servos are in mailbox 0 and 1 }
SERVO.Set(ServoCh1,intValue[0])
SERVO.Set(ServoCh2,intValue[1])
if (intValue[2]<>0)
outa[16]~~
else
outa[16]~
intValue[3] := ina[17]
mailboxSendFlag[3] := 1
Comments
I have some links to Propeller based machine vision techniques in post #4 of my index. The CMUcam4 can detect color blobs.
Cone finding would be a logical use, but my hope is to circumnavigate my house and stay on the grass and out of the gardens! Essentially Im looking for path planning and obstacle avoidance tools. Ping sensors are good, but there are limitations, etc.
Ive always found vision processing to be an amazing feat and to my untrained eye, RoboRealm seems to have some pretty diverse and powerful vision processing filters, and capabilities. I dont think RR is strong enough to guide a car down a highway, but for a gear head hobbyist, its awful easy to use. I just need to get past this hurdle.
Regards,
Steve