Published September 26, 2014

The Web Rover

Control a Pololu Rover through custom scout script, a mobile device accelerometer, and Minecraft

Full instructions provided1,125

Story

Intro

Using a Pinoccio Scout and Lead Scout, makes it easy to control the Pololu 3PI robot from anywhere, even the virtual world of Minecraft!!

Yeah, this is gonna be awesome!

Supplies

Setup

Your Lead Scout is going to need to be updated to the latest firmware because we're going to be using some new commands. Visit, http://hq.pinocc.io/debug to update the firmware.

This project does require some soldering of wires form the Pinoccio Scout to the Pololu Robot, but nothing too crazy. The schematics for soldering are included with the Pololu.

Once you get the Pinoccio Scout soldered to the Pololu we get to code the heck out of it, connect to the web. Flash the code below onto your Pinoccio Scout.

Untitled file

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#include "version.h"
#include <SPI.h>
#include <Wire.h>
#include <Scout.h>
#include <GS.h>
#include <bitlash.h>
#include <lwm.h>
#include <js0n.h>

  // c0040b2a2f0fcb6f
  // http://www.pololu.com/docs/0J21/10.a
  enum {
    PI_SIGNATURE           = 0x81,
    PI_RAW_SENSORS         = 0x86,
    PI_CALIBRATED_SENSORS  = 0x87,
    PI_TRIMPOT             = 0xB0,
    PI_BATTERY_MV          = 0xB1,
    PI_PLAY_MUSIC          = 0xB3,
    PI_CALIBRATE           = 0xB4,
    PI_RESET_CALIBRATION   = 0xB5,
    PI_LINE_POSITION       = 0xB6,
    PI_CLEAR_LCD           = 0xB7,
    PI_PRINT               = 0xB8,
    PI_LCD_GOTO_XY         = 0xB9,
    PI_AUTOCALIBRATE       = 0xBA,
    PI_START_PID           = 0xBB,
    PI_STOP_PID            = 0xBC,
    PI_M1_FORWARD          = 0xC1,
    PI_M1_BACKWARD         = 0xC2,
    PI_M2_FORWARD          = 0xC5,
    PI_M2_BACKWARD         = 0xC6
  };

  uint32_t timer = millis();
  uint32_t safetyTimer = 0; // start in a disabled state
  bool stopped = true;
  
  void setup() {
    Scout.setup(SKETCH_NAME, SKETCH_REVISION, SKETCH_BUILD);
    
    addBitlashFunction("rover.forward", (bitlash_function)moveForward);
    addBitlashFunction("rover.left", (bitlash_function)turnLeft);
    addBitlashFunction("rover.right", (bitlash_function)turnRight);
    addBitlashFunction("rover.backward", (bitlash_function)moveBackward);
    addBitlashFunction("rover.stop", (bitlash_function)stop);
    
    initialize3Pi();
    Led.blinkGreen(200);
  }

  void loop() {
    Scout.loop();
  }

  void initialize3Pi() {
    Serial1.begin(115200);
    Serial1.write(PI_SIGNATURE);
    Serial1.write(PI_CLEAR_LCD);
    Serial1.write(PI_PRINT);
    Serial1.write(8);
    Serial1.print("Pinoccio");
    Serial1.write(PI_LCD_GOTO_XY);
    Serial1.write(0);
    Serial1.write(1);
    Serial1.write(PI_PRINT);
    Serial1.write(8);
    Serial1.print("Lets go!");
  }

  numvar moveForward() {
    Serial1.write(PI_M1_FORWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_FORWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar turnLeft() {
    Serial1.write(PI_M1_BACKWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_FORWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar turnRight() {
    Serial1.write(PI_M1_FORWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_BACKWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar moveBackward() {
    Serial1.write(PI_M1_BACKWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_BACKWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar stop() {
    Serial1.write(PI_STOP_PID);
    safetyTimer = millis();
    stopped = true;
  }

This code allows us to send commands to the Pololu through the Pinoccio Scout. Next you need to get the Mesh Information from your Lead Scout by running mesh.report and mesh.getkey copy the channel, troopId and the key from these two commands somewhere, they are necessary for you to connect the Pinoccio Scout to the mesh.

Open up the Serial Screen when the Pinoccio Scout is plugged into the computer, and run the command mesh.config({{scoutId}}, {{troopId}}) , replace {{scoutId}} with the scoutId you want this scout to have, replace {{troopId}} with the troopId you got from earlier. Next you need to run the command mesh.setkey({{key}}), replace {{key}} with the key you got from earlier. This Scout is now connected to your Lead Scout's Mesh.

Now we can get to connecting this rover to the net, in the Pinoccio HQ, go to your lead scout and run the scoutscript, command.scout({{scoutId}}, "rover.right") , replace {{scoutId}} with your Pinoccio Scout's ID you just set, if your mesh is setup correctly your rover should start rotating right.

YAY!!

Connecting

In this tutorial we're going to connect this rover two different ways, the first way is using the Mobile Device Accelerometer. For this we're going to need a server I chose Github Pages because it's the easiest and fastest.

For the accelerometer, I'm using a Juery Plugin titled Gyro.js, information on this plugin can be found here: http://tomg.co/gyrojs.

Untitled file

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<!doctype html>
<html>
<head>
    <meta charset="utf-8">
</head>
<body>
	<script src="//ajax.googleapis.com/ajax/libs/jquery/2.1.1/jquery.min.js"></script>
	<script src="https://api.pinocc.io/pinoccio.js"></script>
    <script src="js/gyro.min.js"></script>
    <script>

    	var api = pinoccioAPI('96496cq2hj4gngbfa1lnsifjk2');

		var s = api.sync({stale:1});
	    gyro.startTracking(function(o) {
	    	var running = false;
	       	$("body").html("X: " + o.x + ", Y: " + o.y + "<br>");
	       	if (o.y > 5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.left")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.y < -5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.right")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.x > 5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.forward")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.x < -5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.backward")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (running == false) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.stop")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
	       	}
	    });
    </script>
</body>

</html>

This code doesn't have any UI, except for writing of the accelerometer values. We only need to read the X and Y values of the accelerometer.

When the phone is held flat the rover will stop. This code is optimized for holding the phone sideways.

Now we're gonna connect it into the Virtual World, that's right Minecraft.

For the basic functionality check out my previous project introducing the basics of sending commands from inside Minecraft.

Wiring inside Minecraft

This is the wiring inside Minecraft, the code inside the computer block is below:

Untitled file

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while true do
  local running = false
  if redstone.getInput("front") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.forward")&token={{api token}}')
    running = true
  end    
  if redstone.getInput("right") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.right")&token={{api token}}')
    running = true
  end
  if redstone.getInput("left") == true then
     local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.left")&token={{api token}}')
     running = true
  end
  if redstone.getInput("back") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.backward")&token={{api token}}')
    running = true
  end
  if running == false then
   local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.stop")&token={{api token}}')                              
  end
end

All you need to do is change out {{api token}} with your api token.

#include "version.h"
#include <SPI.h>
#include <Wire.h>
#include <Scout.h>
#include <GS.h>
#include <bitlash.h>
#include <lwm.h>
#include <js0n.h>

  // c0040b2a2f0fcb6f
  // http://www.pololu.com/docs/0J21/10.a
  enum {
    PI_SIGNATURE           = 0x81,
    PI_RAW_SENSORS         = 0x86,
    PI_CALIBRATED_SENSORS  = 0x87,
    PI_TRIMPOT             = 0xB0,
    PI_BATTERY_MV          = 0xB1,
    PI_PLAY_MUSIC          = 0xB3,
    PI_CALIBRATE           = 0xB4,
    PI_RESET_CALIBRATION   = 0xB5,
    PI_LINE_POSITION       = 0xB6,
    PI_CLEAR_LCD           = 0xB7,
    PI_PRINT               = 0xB8,
    PI_LCD_GOTO_XY         = 0xB9,
    PI_AUTOCALIBRATE       = 0xBA,
    PI_START_PID           = 0xBB,
    PI_STOP_PID            = 0xBC,
    PI_M1_FORWARD          = 0xC1,
    PI_M1_BACKWARD         = 0xC2,
    PI_M2_FORWARD          = 0xC5,
    PI_M2_BACKWARD         = 0xC6
  };

  uint32_t timer = millis();
  uint32_t safetyTimer = 0; // start in a disabled state
  bool stopped = true;
  
  void setup() {
    Scout.setup(SKETCH_NAME, SKETCH_REVISION, SKETCH_BUILD);
    
    addBitlashFunction("rover.forward", (bitlash_function)moveForward);
    addBitlashFunction("rover.left", (bitlash_function)turnLeft);
    addBitlashFunction("rover.right", (bitlash_function)turnRight);
    addBitlashFunction("rover.backward", (bitlash_function)moveBackward);
    addBitlashFunction("rover.stop", (bitlash_function)stop);
    
    initialize3Pi();
    Led.blinkGreen(200);
  }

  void loop() {
    Scout.loop();
  }

  void initialize3Pi() {
    Serial1.begin(115200);
    Serial1.write(PI_SIGNATURE);
    Serial1.write(PI_CLEAR_LCD);
    Serial1.write(PI_PRINT);
    Serial1.write(8);
    Serial1.print("Pinoccio");
    Serial1.write(PI_LCD_GOTO_XY);
    Serial1.write(0);
    Serial1.write(1);
    Serial1.write(PI_PRINT);
    Serial1.write(8);
    Serial1.print("Lets go!");
  }

  numvar moveForward() {
    Serial1.write(PI_M1_FORWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_FORWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar turnLeft() {
    Serial1.write(PI_M1_BACKWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_FORWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar turnRight() {
    Serial1.write(PI_M1_FORWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_BACKWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar moveBackward() {
    Serial1.write(PI_M1_BACKWARD);
    Serial1.write(32);
    Serial1.write(PI_M2_BACKWARD);
    Serial1.write(32);
    safetyTimer = millis();
    stopped = false;
  }
  
  numvar stop() {
    Serial1.write(PI_STOP_PID);
    safetyTimer = millis();
    stopped = true;
  }

<!doctype html>
<html>
<head>
    <meta charset="utf-8">
</head>
<body>
	<script src="//ajax.googleapis.com/ajax/libs/jquery/2.1.1/jquery.min.js"></script>
	<script src="https://api.pinocc.io/pinoccio.js"></script>
    <script src="js/gyro.min.js"></script>
    <script>

    	var api = pinoccioAPI('96496cq2hj4gngbfa1lnsifjk2');

		var s = api.sync({stale:1});
	    gyro.startTracking(function(o) {
	    	var running = false;
	       	$("body").html("X: " + o.x + ", Y: " + o.y + "<br>");
	       	if (o.y > 5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.left")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.y < -5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.right")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.x > 5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.forward")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (o.x < -5) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.backward")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
				running = true;
	       	}
	       	if (running == false) {
	       		api.rest({url:"/v1/1/1/command", data:{command:'command.scout(2, "rover.stop")'}},function(err,data){
  					console.log('much win? ',error,data)
				});
	       	}
	    });
    </script>
</body>

</html>

while true do
  local running = false
  if redstone.getInput("front") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.forward")&token={{api token}}')
    running = true
  end    
  if redstone.getInput("right") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.right")&token={{api token}}')
    running = true
  end
  if redstone.getInput("left") == true then
     local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.left")&token={{api token}}')
     running = true
  end
  if redstone.getInput("back") == true then
    local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.backward")&token={{api token}}')
    running = true
  end
  if running == false then
   local example = http.post("https://api.pinocc.io/v1/1/1/command", 'command=command.scout(2, "rover.stop")&token={{api token}}')                              
  end
end

The Web Rover

Story

Intro

Supplies

Setup

Untitled file

Connecting

Untitled file

Untitled file

Code

file_5348.txt

file_5349.html

file_5351.txt

Credits

Gavin Dinubilo

Comments

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The Web Rover

The Web Rover

Story

Intro

Supplies

Setup

Untitled file

Connecting

Untitled file

Untitled file

Code

file_5348.txt

file_5349.html

file_5351.txt

Credits

Gavin Dinubilo

Comments

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