Robobot software description

Revision as of 09:20, 23 January 2024

Back to Robobot

C++ development

C++ main structure

Introduction to the main source code structure.

C++ main entry point

Compile and CMake

Functional description

Software class - and example

This page also has an explained behaviour plan example (bplan20).

C++ building blocks overview.

Low-level robot control

Robobot level 1 with interface to hardware and pose generation.

Line sensor

Description of the Line sensor functionality.

Robot.ini configuration file

[pose]
gear = 19.0
wheeldiameter = 0.146
enctickperrev = 64
wheelbase = 0.243
log = true
print = false

See Raubase configuration file for explanation.

Make a new behaviour plan

The easy way to make a new behaviour plan module is to copy an existing plan and rename a number of elements.

See Robobot_new_behaviour_plan.

Sensor calibration

See sensor calibration, which covers odometry, distance sensor, and gyro.

Calibration of the line sensor is found here.

Camera calibration is needed, as the lens distorts the image quite a bit.

Video streamer

A video streamer is installed called 'motion'.

run motion

To run the streamer, SSH to the robot and start motion

$ motion
[0:motion] [NTC] [ALL] conf_load: Processing thread 0 - config file /etc/motion/motion.conf
[0:motion] [NTC] [ALL] motion_startup: Logging to file (/home/local/.motion/motion.log)

NB! Remember to stop the streamer before trying to use the camera for other purposes.

Stop by ctrl-C

View the stream

To view the result, use a browser to open the address of the robot and port 8081, e.g. if the robot has IP '192.168.1.151':

192.168.2.151:8081

You should now see a stream of default 640x480 at 10 FPS as default; more options are available in /etc/motion/motion.conf.

The stream has a significant delay, and the framerate may be lower if the network is slow.