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Step 1 :
Connect the servo outputs of udoo
Step 2 :
Load the program Arduino
Step 3 :
Start the program to receive commands . Enter the IP udoo which is connected to the LAN .
Step 4 :
Start the program to send commands from aterminal connected to the LAN of the usual udoo . enter IP udoo that will correspond to the usual step 3 .
#SENDING PROGRAM
#example of packet to send <1180> 1 Idservo 180 angle
import socket
import sys
UDP_IP = "0.0.0.0"#default IP address
UDP_PORT = 5005#default
default ="<190><290><330><4140><5170><6100>"#rapiro initial position
MESSAGE = default
UDP_IP = raw_input("select rapiro IP: ")
print "UDP target IP:", UDP_IP
print "UDP target port:", UDP_PORT
print "message:", MESSAGE
#connection to Rapiro
sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))#first message send
while True:#only if the command "exit" is pressed the program is closed
MESSAGE = raw_input("Insert command: (type exit to close)")
if MESSAGE == "exit":
exit()
sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))
print "Message sent: " + MESSAGE
exit()
#RECEIVING PROGRAM (open on UDOO board)
import socket
import serial
UDP_IP = "0.0.0.0"
UDP_PORT = 5005
UDP_IP= raw_input("select IP: ")
sock = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
sock.bind((UDP_IP, UDP_PORT))
ser=serial.Serial("/dev/ttyMCC")
while True:
try:
data, addr = sock.recvfrom(1024) # buffer size is 1024 byte
print "received message:", data
ser.write(data)
except KeyboardInterrupt:
ser.close()
sys.exit()
#include <Servo.h>
char value[20],let,Idservo;
int angle,err,c=0;
Servo head,waist,shld_dx,shld_sx,arm_dx,arm_sx;
void setup(){
Serial.begin(9600);//inizialize serial port
head.attach(11);//inizialize servo motors
waist.attach(10);//
shld_dx.attach(9);//
shld_sx.attach(6);//
arm_dx.attach(5);//
arm_sx.attach(3);//
}
void loop(){
if(Serial.available()>1){//begin the read only if there are data in the buffer
let=Serial.read();
if(let=='<'){//if the first characters read is equal to"<" start the loop
Serial.readBytesUntil('>',value,20);//store the values into value array after "<" characters until the ">" characters in found
Idservo=value[0]; //the first character is the Idservo
if(value[4]!=0){
goto invalidPacket;//discards the packet if the number of digits is more than 4
}
for(int i=0;i<4;i++){
value[i]=value[i+1];
}//move 1-->0 2-->1 3-->2 4-->3
angle=atoi(value);//converts the value array into int number
Serial.print(Idservo);
Serial.print("\t\t");
Serial.println(angle);
switch(Idservo){
case '1'://Head's Idservo
head.write(angle);
break;
case '2'://waist'sIdservo
waist.write(angle);
break;
case '3'://right shoulder's Idservo
shld_dx.write(angle);
break;
case '4'://left shoulder's Idservo
shld_sx.write(angle);
break;
case '5'://right arm's Idservo
arm_dx.write(angle);
break;
case '6'://left arm's id servo
arm_sx.write(angle);
case 's'://if s is pressed,go to initial position
head.write(90);
waist.write(90);
shld_dx.write(30);
shld_sx.write(140);
arm_dx.write(170);
arm_sx.write(100);
break;
default:
break;
}
}
else{//if the first character in the buffer is different from"<" discards it
err=let;
Serial.println(err);
}
}
invalidPacket://if the packet have more than 3 digit,discards it and go into the main loop
memset(value,0,20);//reset array
//Serial.flush();
}
//use the program with Rapiroo's app
#include <SoftwareSerial.h>
#include <Servo.h>
char value[20],let,Idservo;
int angle,err,c=0;
#define Tx 2
#define Rx 4
Servo head,waist,shld_dx,shld_sx,arm_dx,arm_sx;
SoftwareSerial bluetooth = SoftwareSerial(Rx, Tx);//initialize Serial port on bluetooth (attach Bluetooth RX to Arduino TX and vice versa)
void setup(){
Serial.begin(9600);
bluetooth.begin(9600);//inizialize serial port
head.attach(11);//inizialize servo motors
waist.attach(10);//
shld_dx.attach(9);//
shld_sx.attach(6);//
arm_dx.attach(5);//
arm_sx.attach(3);//
}
void loop(){
if(bluetooth.available()>1){//begin the read only if there are data in the buffer
let=Serial.read();
if(let=='<'){//if the first characters read is equal to"<" start the loop
bluetooth.readBytesUntil('>',value,20);//store the values into value array after "<" characters until the ">" characters in found
Idservo=value[0]; //the first character is the Idservo
if(value[4]!=0){
goto invalidPacket;//discards the packet if the number of digits is more than 4
}
for(int i=0;i<4;i++){
value[i]=value[i+1];
}//move 1-->0 2-->1 3-->2 4-->3
angle=atoi(value);//converts the value array into int number
Serial.print(Idservo);
Serial.print("\t\t");
Serial.println(angle);
switch(Idservo){
case '1'://Head's Idservo
head.write(angle);
break;
case '2'://waist'sIdservo
waist.write(angle);
break;
case '3'://right shoulder's Idservo
shld_dx.write(angle);
break;
case '4'://left shoulder's Idservo
shld_sx.write(angle);
break;
case '5'://right arm's Idservo
arm_dx.write(angle);
break;
case '6'://left arm's id servo
arm_sx.write(angle);
case 's'://if s is pressed,go to initial position
head.write(90);
waist.write(90);
shld_dx.write(30);
shld_sx.write(140);
arm_dx.write(170);
arm_sx.write(100);
break;
default:
break;
}
}
else{//if the first character in the buffer is different from"<" discards it
err=let;
Serial.println(err);
}
}
invalidPacket://if the packet has more than 3 digit,discards it and go into the main loop
memset(value,0,20);//reset array
//Serial.flush();
}
Giovanni Burresi
2 projects • 9 followers
i'm a PhD student at University of Florence. I work with UDOO Team and I love to build un-useful things! :D
Love tech, music, and especially SMART People!!
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