KHR-3HV - IGEPV2- Python - libKondo4

[tinmarok]

Here is a proper post about my project :

- out of the box KHR-3HV
- IGEPv2 with custom ubuntu 9.04
- Logitech C200 cam

Libraries used :
- pykondo from libkondo4 (thanks to chrisvo) http://bitbucket.org/vo/libkondo4/wiki/Home
- python-openCV http://opencv.willowgarage.com/wiki/PythonInterface, sudo apt-get install python-opencv
- tornado web server, http://www.tornadoweb.org/

The first part is a http server producing jQuery Mobile UI and basic interactions with the RCB4. It allows basic moves (up, right left, back, go down and raise up) and all the basics motions.

About OpenCV, the server just capture a cam picture and send it to the UI. Purpose of openCV will be to help the bot to go towards movement objects, I don't have decided yet in fact.

Example of 3D representation of the robot, but i have to work on the inverse kinetic javascript code ^^


Project hosted here http://code.google.com/p/pykondohttpd/

SWIG interface file used for libKondo4 :

Code: Select all

%module pykondo
%{
#include "rcb4.h"
#include "ics.h"
%}

int kondo_read_analog(KondoRef ki, int *INOUT, UINT num);
%include "rcb4.h"
%include "ics.h"


todo :
- args to disable some functionnality, eg disable OpenCV or other part
- python thread class to check regurarly the position of the bot and send it to the UI.
- curses visualisation of the robot state when the server is launched on console

thanks to the community here that helped me a lot about every steps, from bot choice to now

[chrisvo]

This is great! I have been very busy recently so I have not had a chance to work on updating libkondo4 or translate the latest Heart2Heart4... that time will come soon because we are finally finishing up the hardware modifications to our KHR-3HV and we will need to work on the software again...

Here's a picture of our current prototype (without a head):
http://www.flickr.com/photos/christophervo/5248411524/

[tinmarok]

Hey ,

My main concern was fitting the mainboard,usb hub, dc/dc converter and so on in the back pack. I do now understand how you have solved that problem when i saw the picture, it's not anymore a khr, it's a more a maginzer ^^

.

I'm currently working on the python stuff. I didn't know that language before, was afraid by it's ugly syntax (it was my first opinion). With with some little practice i reallly like that kind of programming )

So up to now the main server process is separated in several addon (opencv/libkondo, future remote sensor). The main purpose is that each addons can be activated/deactivated. I'll contact here once that done.

@chrisvo : i wait with patience to the upgrade of the libKondo4, specially about the xml uploading stuff. .... please Santa ChrisVo