Propellor Head

[i-Bot]

Just a few pics of the prototype Propellor head I showed at Birmingham in Nov.



The head contains a 4D systems uOLED-96-PROP with a 96 * 64 colour display, and a Propellor processor.
http://www.4dsystems.com.au/prod.php?id=14

I have been on vacation, so little progress. I now need to package it properly to get connections to program the propellor in situ, and to get access to the SD card slot.

On the software side, I have now linked it to the C3024 as an I2C slave to the C3024 I2C master. The spare two pins are an I2C master for comms and sensors.

I need to decide what radio to use. I don't think any radios will work between a PC Propellor tool and the chip.

[NovaOne]

After seeing your uOLED-96-PROP in B'ham, I also bought one, although mine is mounted on the back of RN's head.....well they do say imitation is the sincerest form of flattery




Now all I have to do is learn how to program it

Thanks again, for the I2c flash upgrade, hope to be using it soon.

[limor]

This item is going to be for sale at robosavvy.com/store/ soon.
It will be put it up for pre-order as soon as the package is confirmed on way from Australia. Hopefully by end of next week.

[NovaOne]

Hi, i-Bot,

Can we discuss the type of control architecture you are thinking of for your RN?

I was going to have the Propeller handle all i2c devices, plus bluetooth and more. Leaving only the gyros (and maybe foot sensor modules ) connected to the c3024 AD ports. The c3024 would then do what it does best(?) executing servo sequences requested via ERX, (from the Propeller).

I am also quite keen on fitting a wifi enabled gumstix in RN chest for future projects......?

May i ask what your plans are? ie if the Propeller is the i2c slave, does this mean you intend to continue to use the c3024 (and therefore RoboBasic) as the "Host" controller in your RN for the time being?

I am I being too simplistic, but isn't the Propeller chip running Spin significantly faster and more powerful than the Atmega128 running RoboBasic?

[Robo1]

NovaOne interesting place to put it.

I have been reading up on these screens and was leaning in the direction of the serial version as it has all the commands built in and you just have to link it up to the RX/TX. What do people think, can you think why the propeller version would be better.

Bren

[JavaRN]

Sorry to budge in this intelligent discussion, but this does really interest me. As you know I already have an SP03 connected to PWM 0 and 1 as indicated in the C3024 patch by i-bot and everything is working fine. Can you please explain to me where do I connect the TX and RX pins of the uOLED so that I can send commands to it using the BYTEOUT and getting acknowledges through the BYTEIN.

Thanks


Charles

[Robo1]

i-bot uses the propeller version and communicates with it using i2c. I have a gumstix so will use one of the spare uarts or use a slave Atmega168 to talk to it.

Bren

[i-Bot]

As a pure display the serial version does seem to have more functions. The attraction of the Propeller was the hundred MIPS which are spare. With SPIN at a thousand time faster than Robobasic , and floats, 32 bits etc, it looks pretty attractive.

The 4D PROP board does have some limitations with only 6 IO pins, which means 3 busses. I was thinking one for a wireless uplink to remote PC, One to link to C3024, and one for sensors etc, much as NovaOne describes.

The PROP is memory challenged, with limited program and RAM storage, but potentially massive flash storage on SD. The C3024, has plenty of ports, so should probably keep the servo tasks. Whether I2C or serial between the C3024 and PROP, I will probably use custom code in the C3024 and not standard friemware. Not sure whether to keep Gyros on C3024, or use IMU on the PROP sensor bus. I still want to retain access to the craftbase of RoboNova moves under Robobasic

I am still not convinced on the PROP . I am sure someone will jump on my head when I say "I find the PROP is a bit of a hackers processor", but it seems difficult to integrate to a structured robotic development environment , and I think this is also very important. I am still thinking Java /C# + Linux over an FPGA servo controller as being capable of a more object orientated and open solution. I agree with NovaOne that the PROP will likely not be at the top of the food chain. for the robot.

However, I will keep and develop the LCD face, either on PROP or serial. Even a humaniod needs a window to their soul !

[NovaOne]

Bren, I'm no expert in these devices, (but I fell for the propeller chip a while ago, although i have not used it yet). I may be wrong but the "serial version" (Goldelox processor) you are looking at is just designed as embedded display module. -probably ideal for a miniature gumstix display. The Propeller version also has a serial interface (Pins 2 Tx, and 3 Rx), however it has 4 extra i/o pins and lots of free processing power ie spare "cogs" (i-bot feel free to elaborate). ie the propeller version is meant for a complete embedded ‘stand-alone’ product where no other powerful micro's are available.

JavaRN, i-bot has used two of the spare i/o pins for his i2c slave interface, not the Rx & Tx pins

PS
Looks like our posts crossed over again i-bot, excellently explained, when in comes to "Propellers" I really don't know much ....yet.
......did i see talk of IMU's ...can't wait.

[NovaOne]

The PROP is memory challenged, with limited program and RAM storage, but potentially massive flash storage on SD

2Gigabytes of flash on a RN....what could it be use for

[Robo1]

You could use it to store all the moves in or you could datalog sensor info and then play them back on a PC.

Bren

[NovaOne]

Thanks for the suggestions Bren,

I've thought about storing moves on a EEPROM before, but as long as variables can't be inserted to RoboBasic move commands, i don't see how?

Data logging sounds useful. eg of biped foot sensor data, 2Gb..... enough space for a soul, or should that be sole?

[i-Bot]

I am really excited by the window on the sole idea. It would so great to see the movement of the pressure over the foot area during a walk (or even your amazing stair climb). This could be direct on the LCD display, or recorded to SD card.

There appears to be lots of potentialy useful PROP objects available for this: I2C, displays, and SD/FAT. Even without direct feedback link to the C3024, the data logging possibilites are immense.

[NovaOne]

..excited by the window on the sole idea.

Yes so am I, it would also be useful while programming "catch and play" to ensure each posed position is in optimum balance.

I'm a long way off this, what with having to learn Spin and still not having a repeatable/usable FSR mounting method for my RN yet.

I'd like to ask if we can work on this together.. but I doubt i can help much yet?

What do you think i-Bot?

PS

"amazing" stair climb

good joke..It will be better next time.

[limor]

We have some of the 4DSystems modules in stock now
http://robosavvy.com/store/index.php?ma ... rers_id=22