RoRoRoomba - Ruby on Rails on Roomba Railsconf 2012

RoRoRoomba
Roomba on Ruby on Rails

Friday, April 27, 2012

Thanks!

• Nancy Dussault-Smith
• Joshua Lifton
• and iRobot for the Roombas!


Thanks!


Introductions


My Roomba


konnichiwa

• Charles Abbott
•
• Life in Japan www.forthecode.org
• “The greatest obstacle...


“Greatest obstacle...

“The greatest obstacle to discovery



“The greatest obstacle to discovery is not
ignorance



ignorance, but



ignorance, but the illusion of
knowledge” - Daniel J. Boorstin


“Hack Me”


3 R’s

tokyorails.org

Ruby


Rails


Roomba


Roomba on Ruby on Rails

• SerialPort + Ruby controls Roomba
• Rails site that routes remote requests
• ???
• Proﬁt!


Resources
• http://hackingroomba.com/ (Open
source Java package)
• http://www.dprg.org/projects/
2009-07a/
• http://roombahacking.com/
roombahacks/roombacmd/
• http://www.arduino.cc/


Getting Started


Getting Supplies


and then...


my ﬁrstborn


Back on Track


Arduino Layout
RX = receive
TX = transmit


iRobot OI or SCI?


ROI? API?


Wired Up


Roomba + Arduino
What’s next?


Arduino Sandwich


Arduino Sketches

void setup(){}

void loop(){}


RAD?


Example Roomba Sketch


Debugging Arduino


Debugging Pains

[137] [255] [56] [1] [244]

Disconnect, Connect, Disconnect

Headless

Documentation woes


Past First Base


Arduino


Arduino Wireless XBEE


Bluetooth


USB to Serial


Wiﬁ


Where to Start?


Simple Serial


Writing Code

def initialize(port, baud=115200)

@serial = SerialPort.new(port, baud, 8, 1, SerialPort::NONE)

sleep 0.2
api_setup_start
sleep 0.1
api_setup_control

end


Writing Opcodes
# Must call this first to start the serial command interface
def api_setup_start
write(128)
end

# Enables user control of Roomba, puts SCI in safe mode
def api_setup_control
write(130)
end

# Starts a normal cleaning cycle.
def api_clean
write(135)
end


Modeling the ROI
# api_drive(255, 0, 0, 0) //go backward
# api_drive(0, 255, 0, 0) //go forward
# api_drive(0, 0, 0, 0) // stop
def api_drive(velocity_high, velocity_low, radius_high, radius_low)
write(137, velocity_high, velocity_low, radius_high, radius_low)
end


Complex Write and Read
def api_querylist(*bytes)
write(149, bytes.length, *bytes)
wait_for_rx
read
end


The Bottom of the Barrel

def write(*args)
args.each do |a|
@serial.write a.chr
end
end


The Bottom of the Barrel

def read(timeout=50)
@serial.read_timeout= timeout
bytes = []
until (x = @serial.getbyte).nil?
bytes.push(x)
end
bytes
end

Pulling it Together

ls /dev/tty.*
ﬁnd your serial device
then jump into rails console

roo = Roomba.new(“/dev/tty.usbserial-xxx”)
=> #<Roomba:0x00000103e5bec0 @serial=#<SerialPort:fd 9>>


“Hello Roomba” Demo

“Don’t Assume It--Prove It”
- Tip, The Pragmatic Programmer


Pitfall #1

Forgetting to say “when”


Status Reports


down the rabbit hole

Flash Your Sign



Binary and Signed Integers



Dealing With Binary

def signed_integer(bytes)
case bytes.size
when 1
return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7))
when 2
sixteenbit = bytes[0] << 8 | bytes[1]
return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15))
end
end

learn more: http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement



A Hex Digression


Better Abstraction


Distance & Time
# distance is in mm
# velocity is in mm/s (-500 to 500)
def move(distance, degree=0, velocity=200)

distance = distance.to_i.abs #distance can never be negative

if distance == 0 #not moving, just spinning on axis
# time = wheelbase * PI / 360degrees * degrees / velocity ABS
time_in_seconds = calculate_spin_time(velocity, degree)
else
time_in_seconds = (distance.to_f / velocity.to_f).abs
end


High Byte, Low Byte
# distance is in mm
# velocity is in mm/s (-500 to 500)
def move(distance, degree=0, velocity=200)
distance = distance.to_i.abs #distance can never be negative
if distance == 0 #not moving, just spinning on axis
# time = wheelbase * PI / 360degrees * degrees / velocity ABS
# wheelbase might be different for different roombas
time_in_seconds = calculate_spin_time(velocity, degree)
# now that we know how long to spin, set degree to 1 so it will spin roomba instead of put it on an arc
degree = 1
else
time_in_seconds = (distance.to_f / velocity.to_f).abs
end

set_velocity(velocity)
set_degree(degree)


Move!

api_drive(@velocity_high, @velocity_low, @radius_high, @radius_low)

start_moving = Time.now

until (start_moving - Time.now).abs >= time_in_seconds
sensors = get_readings(:bumps_and_drops, :wall)
break if sensors[:bumps_and_drops][:formatted].to_i(2) > 0
end

api_drive(0,0,0,0)
sensors


‘Move’ Demo


Pitfall #2

L...a...te..n....c..y
...

no!

no!

yes!

... no!

Cut out the Middle Men

*Arduino is still awesome, and I encourage you to try it.


What Freedom Looks Like


Logic Level Converter

http://www.sparkfun.com
http://www.sparkfun.com


Prototyping!


SerialPort || TCPSocket

All we need is an IP address and a Port!


Connected and then...

............................never ending silence..........


UART

Universal
Asynchronous
Receiver (RX)
Transmitter (TX)


UART an Angel


Pitfall #3

All you get is #$@#!
.0....T.
./....Y.
.:....T.
.*....Y.
./....L.
......+. .*.....
.4....U. .7....M.
.`....N. .'....T.
......V. .6....Q.
.=...... ./....W.
.-....L. .2....L.
........ .,....U.
.7....T. .7....U.
......H. ......Q.
./....S. ......P.
.B...... .2....L.
.0....O. .3....O.
........ .7....T.
.4....V. .4....W.
........ ./....[.
.-....S. .,....L.
......e. .(....V.
.0....Y. .7....U.
.!...... .-....N.
.*....V. ......V.
........ .5....Q.
.-....U. .-....Z.
.l....,. .2....U.
......R. .)....Q.
.W....V. ......N.
.1....W. .2....V.
.-....R. .5....V.
.,....R. .-....^.
.1....M. .-....Q.
.1....V. .%....Q.
.6....B. .2....T.
.-....S. .2....O.
.A....V. ./....O.
.0....N. .4....M.
.-....V. .4....U.
.5....[. .6....Q.
.-....N. ......Q.
.(....M. .2....T.
.5....H. .2....O.
.6....R. ./....M.
.;....T. .4....W.
.1....Q. .6....X.
./....L. .,....N.
.2....V. .+....N.
.7....M. .5....W.
.-....P. .5....N.
.6....H. .,....S.
.3....Y. .5....U.
.;....K. .0....X.
.*....S. ......R.
.8....S. .+....S.
.0....U. .1....`.
.0....U. .0....Q.
......L. .#....Q.
......O. .2....T.
.7....T. .2....U.
.4....U. ./....L.
./....R. ......R.
......Q. .7....T.
.1...... .1....J.
.2....P. ./....V.
.9....P.
.3....R. .-....N.
.3....O.
.1....W. .5....S.
.4....[.
.,....U. .0....O.
.(....R.
......I. .4....N.
.1....X.
.5....N.
.+....Y.
.5....P.
.*....S.
.3....O.


Pitfall #3


Solution #1: RTFM


Pitfall #3

Solution #2: Factory Defaults


Pitfall #3


Solution #3: RTFM, again...


Pitfall #3

Solution #3: RTFM, again...


Wiﬂy Conﬁguration
P195:~ charles$ telnet 169.254.1.1 2000
Trying 169.254.1.1...
Connected to 169.254.1.1.
Escape character is '^]'.
*HELLO*
$$$
CMD
set comm close 0
AOK
<2.23>set comm open 0
<2.23>set sys printlvl 0
<2.23> save
Storing in config
<2.23> reboot

Pretty Prototype...


Roomba Wiﬁ


3 Final Hurdles

nope nope huh?


Hurdle 1

Wiﬂy Option (a)


Hurdle 1

“Hold, hold,...


Hurdle 1

Wiﬂy Option (b)


Hurdle 2

The Stateless Web Tax

def initialize(port, baud=115200)
sleep 0.2
api_setup_start
sleep 0.1
api_setup_control


Hurdle 3

Device Busy
CONCURRENT
REQUESTS

OK Errno::EBUSY: Resource busy


Hurdle 2 & 3

Socket Server

Pseudocode
server = TCPServer.open(port) # Socket to listen on
start Roomba Socket Server roomba = Roomba.new(location)

Thread.abort_on_exception = true
loop do
puts "Roomba Socket Server Running! (15 second timeout)"
Thread.start(server.accept) do |client|
# => Read the incoming TCP Socket request
# => Pass the command to the roomba
client.close # Disconnect from the client
end
end


Extended Demo

“Coding Ain’t Done ‘Til All The Tests Run”
- Tip 63, The Pragmatic Programmer


Looking Forward


Testing Drones

• How do you run software tests on
something in the physical world?


Roomba Simulator


Test the Simulation


Compare with Live Test

Bring it!


Simulator Scenarios


Challenges

If i tape a marker on Roomba...
Map out a room...


Physical Computing?
Why you should care.

Jeremiah Palecek http://nerdkore.com


By 2020

Ericsson White Paper
284 23-3149 Uen | February 2011


Already

“By 2016, there will be 1.4 mobile devices per capita. That year, there will be over 10 billion mobile-
connected devices, including machine-to-machine (M2M) modules.”

http://techcrunch.com/2012/02/14/the-number-of-mobile-devices-will-exceed-worlds-
population-by-2012-other-shocking-ﬁgures/

People then Things

Ericsson White Paper
284 23-3149 Uen | February 2011

People and Things

https://trandi.wordpress.com/2011/09/26/vfd-clock-connects-to-the-internet/


People and Things

http://lifeboat.co.nz/the-ﬁnished-wireless-water-sensor/

Just Getting Started


“A Pragmatic Philosophy”

Invest Regularly in Your
Knowledge Portfolio
- Tip 8, The Pragmatic Programmer

“Simon Stevin!”


An Eccentric


Who is Simon Stevin?
•waterway, spillways, sluices
•navigation, steering
•interest rate tables
•The Art of Fortiﬁcation •Copernican system
•treatise on perspective
•musical tuning
•Trigonometry •civil unrest handbook
•hydrostatic paradox
•optics, geography, philosophy
•and more...

1585, De Thiende

“The Tenths”
35pg


Changes the World

“What seems a wonder, is not
really a wonder.” - Simon Stevin


Fork it!

github.com/tokyorails

Charles Abbott
www.forthecode.org


RoRoRoomba


RoRoRoomba - Ruby on Rails on Roomba Railsconf 2012

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