ArbotiX Commander Manual
Contents
1. ArbotiX Commander V1 3 for Rev A Boards User Manual Introduction The ArbotiX Commander is an open source AVR and XBEE powered hand held controller It has 2 thumb joysticks and a total of 10 buttons Required Accessories e AAA Battery e XBEE Radio e In System Programmer to load custom firmware The joysticks are called Walk and Look When using the demo code on your robot or the default export from NUKE the look joystick on the right side of the commander moves the robot around Pushing the stick up causes the robot to walk forward Side to side causes the robot to turn The three buttons directly above the look joystick are called walk buttons 1 2 and 3 A fourth button at the top of the Commander is known as the right top button The walk side has the same setup except the buttons are labeled 4 5 and 6 If you enable the southpaw configuration the look and walk joysticks will be reversed however the button numbering remains the same Prototyping Button L6 Button R1 Look Joystick On Off Installing Battery amp XBEE The Commander requires a single AAA battery which should be inserted into the battery holder on the back side of the controller paying attention to the polarity Battery life is several hours of continuous runtime but be sure to change out the battery when the User LED starts to blink erratically The XBEE also plugs in on the back side of the Commander Be sure that your XBEE is paired to2. Commander as the board type before uploading the sketch Revision History September 13 2010 V1 3 Fix CommEXT pan tilt byte order add note about LED July 22 2010 V1 2 Updated extended instruction set for actual CommEXT sketch February 21 2010 V1 1 Added sections detailing the protocol updates about revisions found in RoboControllerLib 0005 including southpaw February 10 2010 V1 0 Document Created in syne with RoboControllerLib 0003
3. the one on your ArbotiX and both are set to 38400 baud Writing Code for Your ArbotiX The robocontroller library http robocontroller googlecode com includes a library for interfacing with the Commander The Commander library can be instantiated by putting the following at the beginning of your sketch include lt Commander h gt Commander command Commander The library has several functions void begin int baud Starts the library must be called in setup Baud should be 38400 int ReadMsgs Attempts to decode messages in the Serial0 buffer should be called at approximately 30hz to avoid buffer overrun Returns gt 0 if a message is completely decoded and parameters should thus be updated void UseSouthPaw __ Enables the south paw configuration swapping look and walk joysticks void UseExtended Enables the extended mode see the hacking section on protocol for more details of what this does And several variables Variable Description signed char walkV Vertical displacement of the walk joystick 100 to 100 signed char walkH Horizontal displacement of the walk joystick 100 to 100 signed char lookV Vertical displacement of the look joystick 100 to 100 signed char lookH Horizontal displacement of the look joystick 100 to 100 unsigned char buttons Value of the buttons see masks below unsigned char extra Extra byte in
4. the protocol payload for user modifications The masks for the buttons variable are BUT RI BUT L5 BUT R2 BUT L6 BUT R3 BUT RT BUT L4 BUT LT So to read if the left top button was pressed you would if command ReadMsgs gt 0 if command buttons amp BUT_LT gt 0 do something NUKE uses a piece of code similar to at the top of the file Commander command Commander put this in your setup function command begin 38400 put this in the loop function if command ReadMsgs gt 0 Xspeed command walkV if command buttons amp BUT_RT gt 0 Yspeed command walkH else Rspeed command walkH 250 0 bodyRotY float command lookV 250 0 if command buttons amp BUT_LT gt 0 bodyRotX float command lookH 250 0 else bodyRotZ float command lookH 250 0 Note that we must create an instance of the Commander class in this case we call it command Inside our setup function we must call command begin 38400 to open the serial port This example attempts to read messages It then sets the Xspeed forward speed to the vertical offset of the Commander s walk joystick pushing the stick up will walk forward If the top button above the walk stick is pressed we strafe by setting the Yspeed otherwise we turn by setting the Rspeed to the horizontal displacement of the walk joystick Since NUKE can compute body rotation
5. T sketch implements the following standard OpCode Instruction 0x00 Cancel extended instruction mode 0x08 No Action 0x10 Read Analog0 as 8 bit value 0x11 Read Analogl as 8 bit value Oxlk Read AnalogK as 8 bit value 0x1B Read Digital0 through Digital7 as a byte 0x40 Motors Off 0x50 k Left Motor Reverse k 10 100 of speed 0x50 Left Motor Off 0x50 k Left Motor Forward k 10 100 of speed 0x70 k Right Motor Reverse k 10 100 of speed 0x70 Right Motor Off 0x70 k Right Motor Forward k 10 100 of speed 0x80 Set Digital0 as low and input note the LED is tied to DO and is toggled by the CommEXT sketch each time a packet is received 0x81 Set Digital0 as high and input pullup enabled 0x82 Set Digital0 as low and output 0x83 Set Digital0 as high and output 0x84 Set Digitall as low and input and so on During extended mode the CommEXT firmware also remaps several bytes of the protocol to allow more resolution for a single high resolution joystick Byte Name Value 2 Pan H Upper byte of pan value 3 Pan L Lower byte of pan value 4 Tilt H Upper byte of tilt value 5 Tilt L Lower byte of tilt value A returned packet in the extended mode is quite simple We send the OxFF byte as a header the instruction that was processed the byte of data and a checksum Software Setup for Custom Firm
6. n between the two top buttons Details of Communication Protocol The Commander Protocol is quite simple to generate even on devices other than the hand held ArbotiX Commander For instance there is a python version included with PyPose The core of the protocol is an 8 byte packet Byte Name Value l Header 0xFF 2 Right joystick vertical Centered around 128 values can range displacement from 125 to 125 3 Right joystick horizontal Centered around 128 values can range displacement from 125 to 125 4 Left joystick vertical Centered around 128 values can range displacement from 125 to 125 5 Left joystick horizontal Centered around 128 values can range displacement from 125 to 125 6 Button values See masks below for how this byte is configured 7 Extended Instruction See the Extended Instruction Mode for details 8 Checksum The buttons byte is mapped as follows Bit Value Low Button R1 2 Button R2 3 Button R3 4 Button L4 5 Button L5 6 Button L6 7 Right Top Button High Left Top Button Extended Instruction Mode The extended instruction mode allows a controlling device to read data back from the ArbotiX or use several of the other features that would not normally be activated This is mainly intended for using PC control on an ArbotiX that must still be inter operable with the Commander without a firmware change The CommEX
7. s we use the look joystick s vertical displacement to rotate around the Y axis tilt If the top button is pressed we will rotate about the X axis roll otherwise we rotate about the Z axis pan the amount that of the look joystick s horizontal displacement Since our rotations are in radians 100 to 100 is way too large of a range and we need to do some conversion to reasonable values as shown Hacking The ArbotiX Commander was meant to be hacked It s open source and all pin are brought out to something The following sections detail how to connect new accessories or modify the firmware of your ArbotiX Commander Prototyping Header Along the side of the AVR there is female header for prototyping 4 of the AVR s 6 analog pins are used to read the joysticks The remaining two are unused and brought out to the prototyping header These last two analog pins also double as an I2C connection Pin Function Analog 5 PCS unused I2C SCL Analog 4 PC4 unused I2C SDA Analog 3 PC3 Look Joystick Horizontal Analog 2 PC2 Look Joystick Vertical Analog 1 PC1 Walk Joystick Horizontal Analog 0 PCO Walk Joystick Vertical Ground VCC VCC PBS Look Button 6 PB4 Look Button 5 PB3 Look Button 4 PB2 User LED 14 PB1 Look Button Top NO 00 WIN Wn A WL NR N U There is also a prototyping area at the top of the Commander i
8. ware The Commander comes preloaded with a default sketch that works with all demo code and NUKE s default sketch If you want to upload custom firmware to the Commander you ll need an In System Programmer The ISP header is next to the left joystick When plugged in the ISP cable will be running upward on the commander Setup is pretty easy e Install the Arduino IDE following the instructions at http arduino cc en Guide HomePage e Download the default firmware from http www vanadiumlabs com commander e Copy the following into your boards txt commander name ArbotiX Commander 3 3V 8 MHz w ATmegal 68 commander upload maximum_size 16384 commander upload using avrispmkii commander bootloader low_fuses 0xc2 commander bootloader high_ fuses Oxdd commander bootloader extended_fuses 0x00 commander bootloader path atmega commander bootloader file ATmegaBOOT_168 pro_8MHz hex commander bootloader unlock_bits 0x3F commander bootloader lock_bits Ox0F commander build mcu atmega 168 commander build f_cpu 8000000L commander build core arduino e Ifusing the recommended Pololu ISP copy the following into your programmers txt avrispmkii name AVRISP mkII avrispmkii communication serial avrispmkii protocol stk500v2 Otherwise visit http www arduino cc en Hacking Programmer for details on using other In System programmers with the Arduino environment e You ll then select the correct serial port and select
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