RoboSavvy Forum

Program / Control your Robobuilder robot with LISP !

2010-06-13T21:14:13+01:00

not sure - I have increased the sensitivity on the sound meter so even low level sounds will trugger the red light, blue should come on as the sound level increase - may be its interacting with its own output sound ??

Statistics: Posted by l3v3rz — Sun Jun 13, 2010 9:14 pm

Program / Control your Robobuilder robot with LISP !

2010-06-13T18:37:13+01:00

Ok, playSound works fine now!

But, what's the strange ball of lights of the last firmware?
Now, continuity, red led is fast blinking, run led (the midle in the left column) is blinking too, but in a strange sincronizity with the blue and orange leds in the right column ... Why?

Statistics: Posted by pepep — Sun Jun 13, 2010 6:37 pm

Program / Control your Robobuilder robot with LISP !

2010-06-07T19:51:13+01:00

I think it may be fixed - try this

http://robobuilderlib.googlecode.com/fi ... P_r165.hex

At least it shouldn't cease up.

Statistics: Posted by l3v3rz — Mon Jun 07, 2010 7:51 pm

Program / Control your Robobuilder robot with LISP !

2010-06-06T18:17:42+01:00

It's the same!

When do (setSampling true) the red led (the left up to down 3rd) start to blink, and then, when do (playSound 1), then it fixed on!

Nothing else is different ...

???

Statistics: Posted by pepep — Sun Jun 06, 2010 6:17 pm

Program / Control your Robobuilder robot with LISP !

2010-06-06T11:48:13+01:00

I think sound sampling needs to be ON (it enables the timer interrupt) - can you try it again and see if that makes a difference ?

Sorry - but its hard to debug as I don't have a sound chip

BTW : next version of DCMP will have sound sampling enabled as default - since it seems to have no effect on performance.

Statistics: Posted by l3v3rz — Sun Jun 06, 2010 11:48 am

Program / Control your Robobuilder robot with LISP !

2010-06-06T09:53:27+01:00

playSound don't work: it freez the robot and must restart to control again ...
(.wckReadPos 30 n) where n > 64 return false ...

Statistics: Posted by pepep — Sun Jun 06, 2010 9:53 am

Program / Control your Robobuilder robot with LISP !

2010-06-05T13:33:29+01:00

ReadMIC takes the average of 50 reads so its is more of sound level - its what the standard firmware uses. But it takes about 500ms to return no good for interactive stiff.

To play sounds try this:-

Code:: (def playSound (n) "Play Sound" (.wckReadPos wck 30 (+ 64 n)) ; send sound 1 <= n <= 25 )

If you have utilities.lisp loaded try this

Code:: (def soundTest () (setSampling true) (= p1 (new "Pen" (Color.FromName "Black"))) (.set_DashStyle p1 (System.Drawing.Drawing2D.DashStyle.DashDot)) (createwindow "Plot Distance Demo" 250 250) (.show form1) (= nos 64) (while (not (console.keyavailable)) (= history ()) (.clear g (Color.FromName "White")) (for i 1 nos (= snd (readSound)) (= history (cons (list (* 6 (- i 16) ) (- (* 5 snd) 20) ) history)) ) (drawlist g (reverse history) "Blue") ) (setSampling false) (.close form1) )

it will graphically show sound output

cheers

Statistics: Posted by l3v3rz — Sat Jun 05, 2010 1:33 pm

Program / Control your Robobuilder robot with LISP !

2010-06-05T13:12:32+01:00

Well, readSound os wonderfull!

I modify lpose (now spose) to readSound every time it make a simple movement in a global one. The return value of readSound adds if it is greater than a certain umbral, to compose the total sound ... b.e. "hello" has a duration aprox 0.8 seconds, more or less the same than one step. Then, all the "hello" sound sums 200 b.e, but "wonderfull" sums more, b.e. 500.

With this procedure I can program class of sounds, and make diferents things with each class (walk forward, backward, turn, wait, ...).

I must control when the sound has finish, but I don't think was a problem reading until the readSound return a minor value ...

This is the new code:

Code:: (= snd 0) (def spose (dur stp pos lpst) (if (or pos) ( do (= lpst (.PlayPose wck dur stp (toByteArray (car pos)) false)) ;(prn "nxt: " lpst) (= snd (if (> (= sndt (readSound)) 40) (+ snd sndt) snd)) (if lpst (spose dur stp (cdr pos) false) ) ) ) lpst )

Do all this things all together haven't any delay in the robot movement! Great!

Some questions:
1. whats the diference between readSound and readMIC?
2. what do you want I test with runSound? In DC mode has no funtionality, no in the current DCM.lisp ...

cheers!

Statistics: Posted by pepep — Sat Jun 05, 2010 1:12 pm

Program / Control your Robobuilder robot with LISP !

2010-05-28T16:37:55+01:00

its up !

New DCMP

http://code.google.com/p/robobuilderlib ... P_r139.hex

and new RobobuilderLib.dll

http://code.google.com/p/robobuildervc/ ... l&can=2&q=

LISP examples are here:

http://code.google.com/p/robobuildervc/ ... trunk/Lisp

Look for fft.lisp for example of real time sound reading. mat.lisp for matrix examples with neural networks. Still working on back propagation (in case any one want to suggest some pointers)

Statistics: Posted by l3v3rz — Fri May 28, 2010 4:37 pm

Program / Control your Robobuilder robot with LISP !

2010-05-27T20:39:09+01:00

l3v3rz wrote:
...Ive also added a capability to play the built in sounds into DCMP - but have no way of testing - so I'll have to rely on you for that.

cheers

When you want! I'm expecting!

Statistics: Posted by pepep — Thu May 27, 2010 8:39 pm

Program / Control your Robobuilder robot with LISP !

2010-05-26T21:35:45+01:00

Yes I'm quite pleased with the sound - I can read it off the bot and display graphically in real time - when I play a recorder I can see a sine wave appear on the screen. I've also passed it into an fft function from a .NET math library called Mathnet.numerics and plotted that at the same time.

Ive also added a capability to play the built in sounds into DCMP - but have no way of testing - so I'll have to rely on you for that.

cheers

Statistics: Posted by l3v3rz — Wed May 26, 2010 9:35 pm

Program / Control your Robobuilder robot with LISP !

2010-05-26T20:41:42+01:00

l3v3rz wrote:
...converts the LEDs on the back of the RBC into crude 3-bar meter...

Well, my wishes list isn't so hard now, don't? Your are great, man!

Statistics: Posted by pepep — Wed May 26, 2010 8:41 pm

Program / Control your Robobuilder robot with LISP !

2010-05-24T18:42:30+01:00

Coding up now, should be in a new version out at the weekend, along with some extra functions, and an update to Robobuilderlib with the matrix additions. So for instance you can now load the csv file straight into a matrix file and manipulate or playout directly.

Edit: have the sound working now as well ! Realtime response - and converts the LEDs on the back of the RBC into crude 3-bar meter. You can also read the state of last IR remote command pressed and the current voltage

Statistics: Posted by l3v3rz — Mon May 24, 2010 6:42 pm

Program / Control your Robobuilder robot with LISP !

2010-05-21T18:38:16+01:00

Hmmmm .... yes!

Statistics: Posted by pepep — Fri May 21, 2010 6:38 pm

Program / Control your Robobuilder robot with LISP !

2010-05-21T16:05:21+01:00

Sorry - in DCMP theres no battery charging mode - you have to upload standard firmware - recharge and then go back. Sounds like a feature that needs adding

Statistics: Posted by l3v3rz — Fri May 21, 2010 4:05 pm