Program / Control your Robobuilder robot with LISP !

[pepep]

OK, I try a new variant of the movement, like your maze: when the robot find a obstacle in front, it will try turn right until the obstacle disappear, and then continue the movement.

Joystick is not a priority for me: I'm trying to give to the robot (using Lisp) autonomy in his movements.

Thanks!

[l3v3rz]

I created a couple of CSV file (like walk.csv) for turn left and turn right

They might help - you should be able to play them directly with .Playfile

http://robobuildervc.googlecode.com/files/tleft.csv

http://robobuildervc.googlecode.com/files/tright.csv

[pepep]

How can I load the battery with your firmware? Pushing the two botton the green led don't blink, and with others firmwares works fine with this method ...

[l3v3rz]

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

[pepep]

Hmmmm .... yes!

[l3v3rz]

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

[pepep]

...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!

[l3v3rz]

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

[pepep]

...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!

[l3v3rz]

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)

[pepep]

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: Select all

(= 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!

[l3v3rz]

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: Select all

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

If you have utilities.lisp loaded try this

Code: Select all

(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

[pepep]

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

[l3v3rz]

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.

[pepep]

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 ...

???