WiRobot Getting Start Guide
Contents
1. Add MDI Form ED es C 22 Add Module X Project Project1 x i ig Add Class Module _General_ ua Add User Control ea 18 Add Property Page Project1 Project1 NG Add User Document C53 Forms Add WebClass C1 Form Form Add Data Report Add DHTML Page Add Data Environment More Activex Designers 4 gt Add File Ctri D Properties Form1 pa Remove Formi Form1 Form X Alphabetic Categorized A References Components Ctrl T Name Form1 Appearance 1 3D Project1 Properties AutoRedraw False BackColor amp H800C Caption Returns sets the text displayed in an object s title Form Layout x NE Figure V 1 Using ActiveX module under VB Step 1 e Uncheck the Selected Items Only box to show all components choose the WiRobot SDK ActiveX Module and click OK Copyright Dr Robot Inc 2003 Q 25 Valleywood Dr Unit 20 Markham ON L3R 5L98 Canada Tel 905 943 9572 Fax 905 943 9197 WWW ORROBsBsOT COM amp y Project1 Microsoft Visual Basic design E File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help P a5 f s LETTERE 3 amp CJ General Controls Designers Insertable Objects trialoc 1 0 Type Library TSHOOT OLE Control module VB 6 Application Wizard VB 6 Data Form Wizard VB 6 MSChart Wizard rojecti XI e nject1 Project1 Forms EY Formi Formi VIDTC2. QA Dr Robot www DrRobot com 25 Valleywood Or Unit 20 Markham ON L3R 5L8 Canada Tel 805 943 9572 Fax 905 843 8187 Dr Robot Imm Softuare Components The WiRobot system comes with a CD containing the following software components and documents e WiRobot Gateway which is used to connect the PC to the robot and show the connection status e An ActiveX control called WiRobot SDK ActiveX Module with a set of APIs is provided for user to access the robot when developing his her own applications in MS VC or VB e Several PC sample applications with source code is provided to demonstrate the capabilities of the WiRobot system and e WiRobot documents The latest documents can be found on www drrobot com In the WiRobot system low level electronic drivers are pre programmed and embedded in the WiRobot controllers PMS5005 and PMB5010 Data information such as image audio sensor information and etc are available to the user via the WiRobot ActiveX control developed for MS VC and VB program environment or by using the WiRobot communication protocol Using this ActiveX control user can also send various control commands to the robot A general connection architecture of the WiRobot system is shown as follows Host Robot Host ea P WiRobot Embedded ib x Controller DS
3. image and control the robot movement The GUI of this program is shown as follows Te WiRobot SDK Control Program For DRK8000 Series loj x T WiRobot SD Control Program For DRESOOO Serles E nij xj orum PD A L E db The Heart of ROBOT Command Timema Motion Control Multimedia panel mikusa EE i Value i Vert Hid Hee 344 E Diable Seno H1 EI frog 50 Hor A Range at 2500 5000 Cre mm iem m vj E A ANE E quo NG p Talang DSP Board Yo Flange a 3300 4 300 r Left Eye r Right Eye 5 x n5 Y m Es P e Go Disable Sewon m pw so Alam Molo Vd 1 B TT mh meh p o eo Reset Reset l J uem SETE ai p Hanan oo E Hm Mo o D A Din 3 A LCD Display Mi Audio ma mp o m Farga at AES Z TUO uj toner p Uvaret D Viel Un Ca finn Reset v BERT v EA vinopol iml m s i2 76 15 large at 4000 2000 The Heart of ROBOT CETT Oem cers Control cy Music nig J Infrared Contsoller Penentoneter Vid so ass T Disable Seren E5 sem aeoo Bom e Foam dl 0G perdas Re Leen Jr M Senter Data b Servo Contra D Sensor Data amp Servo Control a Hoon k Mukinadia Conio O Motion amp Multimedia Control Figure V 4 GUI of the WiRobot DRK8000 Controller VB User can click the button on the interface to control the robot as lon
4. 1 1 0 Type Library VIDTC2 1 0 Type Library vidtc3 VisModelBrowser webshell 1 0 Type Library gt webvw 1 0 Type Library Windows Media Player Form1 x WiRobot SDK Activex module tm Categorized Formi e1 3D 5w False O eH800c tees ao s the text displayed in an object s title Form Layout x Figure V 2 Using ActiveX module under VB Step 2 e Anew icon on the left menu bar will appear and user can simply drag and drop this icon to the Project s Form and start using the APIs offered by this ActiveX control By default the variable name of this component is WiRobotSDK1 Project1 Microsoft Visual Basic design File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help a Properties Form1 XI Form1 Form Alphabetic categorized BackColor H800c iii tfm Returns sets the text displayed in an object s title Form Layout X NE Figure V 3 Using ActiveX module under VB Step 3 Copyright Dr Robot Inc 2003 10 E Dr Robot 25 Valleywood Dr Unit 20 Markham OM L3R 519 Canada Tel 905 943 9572 Fax 905 943 9197 A osor com OS Or Robot V 2 Sample Application 1 WiRobot DRK8OOO Controller VB This sample application demonstrates the basic capabilities of the WiRobot DRK80O0 using Microsoft VB with source code provided This program can read sensor data obtain image and audio play wave file set the LCD display
5. EAM The Heart af Robot WiRobot Getting Start Guide DrRobot Version 1 0 4 Feb 2004 A osor com d3 Dr Robot Table of Contents l PE RE T mmt 2 l l PUIG ICS E AA Oo c l 2 aaa AMEN E S e IMMER VIR ODO CVC SU Tte 3 IDI Software OO SS aaa AA AA AA ANA 4 Il Software WiRobot SDK Installation eese nennen nnn nna 5 II 1 S steem ted Bm AA AA ere ee ee ee ere 5 I e Step nutella AA AA AA AA ERE RUN RUNE AA 5 IV Connecting to WiRobot System Using Gateway Software eese nennen nnns 7 V Building PC Applications USING SORA GAAN AA AA 9 V 1 Using WiRobot SDK Component ActiveX Control eese eene 9 V 2 Sample Application 1 WiRobot DRK8000O Controller VB esses 1l V 3 Sample Application 2 WiRobot DRK6000 8000 Controller VC le V Q Other Sample Applications AA ki eee aan AM EN EE UM UNE 13 Ve MEC EINE ONS pa E AGA 13 VI 1 System AG lo a AA AA o AA AA Do 13 Copyright Dr Robot Inc 2003 l o DB Dr Robo t www DrRobot com 25 Valleywood Or Unit 20 Markham ON L3R 5L8 Canada Tel 805 943 9572 Fax 905 843 8187 WWW DRROBOT COM V Dr Robot l Preface ll Audience This document is written for robot developers in using WiRobot systems It provides the initial product information as well as a guide in helping users to under
6. Files DrRobot WiRobot System unless user specifies another location during the installation 2E Setup WiRobot System Select Destination Directory Where should iRobot System be installed L 3 Program Files ee DrRobot WR obot Sysbem EE The program requires at least 13 7 MB of disk space Back Cancel Figure Ill 3 WiRobot Installation Step 3 Copyright Dr Robot Inc 2003 6 a 25 Valleywood Dr Unit 20 Markham ON L3R 5L8 Canada Tel 905 843 8572 Fax 905 943 9197 WWW DRROBOT COM Or Robot IV Connecting to WiRobot System Using Gateway Software In order to use the WiRobot system user needs to install the WiRobot software on the PC and setup the physical connections If user has purchased the RS232 wireless module please connect the WiRobot system as follows Serial cable data Ss NAL aaa Communication USB cable power WiRobot System e g DRK6000 DRK8000 PMS5005 or PMB5010 Figure IV 1 WiRobot System Setup with Wireless Module If the user does not have a RS23 wireless module he she can simply connect the WiRobot system to a PC through a null modem cable as follows Serial cable data WiRobot System e g DRK6000 DRK8000 PMS5005 or PMB5010 Figure IV 2 WiRobot System Setup uithout Wireless Connection User can now plug in the power source please refer to the relevant user manual fo
7. P PMB5O 10 or PMS5005 Serial Cable Board to Board RS232 Connection or Cable d Sa Communication mn Communication Upper Reach SQ Module Required for Module Wireless Connection Lower Reach SO Host Robot Cable Host e g PG WiRobot Embedded WiRobot Embedded Processor or Controller C Controller DSP PMB50 10 PMS5005 Serial Cable Board to Board RS232 Connection or Cable EUR Sia Communication Communication Upper Reach SQ Module Required for Module Wireless Connection Lower Reach SO Figure Il WiRobot System Communication Architecture Copyright Dr Robot Inc 2003 LU nDrRobot 25 Valleywood Or Unit 20 Markham ON L3R 5L8 Canada Tel 805 943 9572 Fax 905 843 8187 WWW DRROBOT COM O3DrRobot Softuare WiRobot SDK Installation III System Requirements The PC requirements in using the WiRobot system are e PII BBOMHz or faster CPU e 6UMB RAM or more e CO MBhard disk free space e Microsoft Windows 2000 Professional or XP Professional operating system As well Microsoft Visual VB or VC 6 0 with Service Pack 5 or higher is required for users to develop their own applications lll 2 Step by Step Installation User can perform the installation by running the WiRobotSetup exe that comes with the CD The followings are the screen shots taken during th
8. e installation process na Setup WiRobot System Welcome to the WiRobot System Setup Wizard This will install WAR obot v1 01 on your computer kis recommended that vau close all other applications before continuing Click Nest to continue or Cancel to exit Setup Figure Ill WiRobot Installation Step 1 Copyright Dr Robot Inc 2003 5 25 Valleywood Dr Unit 20 Markham OM L3R 5L8 Canada Tel 805 843 9572 Fax 905 943 9197 Dr Robot WWW DRROBOT COM O e Ld s Setup WiRobot System License Agreement Please read the following important information before continuing Please read the following License Agreement You must accept the terms af this agreement before continuing with the installation Dr Robot Inc END USER LICENSE AGREEMENT PLEASE READ CAREFULLY THE USE OF THIS SOFTWARE IS SUBJECT TO THE SOFTWARE LICENSE TERMS OF DR ROBOT INC AND OTHER LICENSORS WHOSE SOFTWARE May BE BUNDLED WITH THIS PRODUCT BT YOUR USE OF THE SOFTWARE INCLUDED WITH THIS PRODUCT YOU AGREE TO THE LICENSE TERMS REQUIRED B THE LICENSOR OF THAT SOFTWARE AS SET FORTH BELOW IF YOU DO NOT AGREE THE LICENSE TERMS APPLICABLE TO THE SOFTWARE DO NOT INSTALL OR USE THE SOFTWARE PRODUCT hd f accept the agreement f dn not accept the agreement Back Cancel Figure Ill 2 WiRobot Installation Step 2 By default all these components will be installed under the directory C Program
9. erface is shown as follows Wikobot C IM CAR Sonar Range Sensors cm The Heart af Robot Temperature Ambient verHeat 1 i OverHeat 2 22 Motor Current L s F i Figure V 5 GUI of the WiRobot DRK6000 8000 Controller VC To obtain an image from the robot user can call the following function where m ctlSDK is a member variable of the class CWiRobotSDK imported from the WiRobot SDK ActiveX Module m ctISDK TakePhoto To control the robot to move forward continuously user can call the following functions m ctISDK SetDcMotorControlMode O O m ctISDK SetDcMotorControlMode 1 O m ctISDK DcMotorPwmTimeCtrAll 32066 32066 32768 32768 32768 32768 800 To stop the robot the following commands can be used m ctISDK SuspendDcMotor O m ctISDK SuspendDcMotor 1 For details on how to control the robot using Microsoft Visual C please refer to the sample C source code and the WiRobot SDK API Reference Manual Copyright Dr Robot Inc 2003 l2 F Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 805 943 9572 Fax 905 943 9197 Dr Robot WWW DRROBOT COM O e Ld V 4 Other Sample Applications More sample applications are available in the SampleApps folder for reference VI Miscellaneous Vl 1l System Update Dr Robot will provide software update for both the PC software as well as the DSP software to enhance the ex
10. g as the WiRobot Gateway is connected to the robot The following are some functions used in this sample application for controlling the servos mounted on the head WiRobot5DKI EnableServo O WiRobotSDK1 ServoTimeCtr O 3800 1000 The wiRobotsDKiis the WiRobot SDK Component ActiveX control The first line will enable the channel O servo The second line will control the servo to take 1OOOms to the target position of 3800 User can also obtain and control the multimedia information of the robot simply by calling the following functions WiRobotSDKI L cdDisplayPMS sourceFileName WiRobotSDK 1 TakePhoto WiRobotSDK1 SavePhotoAsBMP destinationfileName The first function will change the LCD display on the robot to the image stored in the sourceFileName which is in bitmap format The second function will request the robot to take a picture and an ImageEvent will be triggered when this image is ready for pickup The third function will save the image to the file with destinationfileName in bitmap format Copyright Dr Robot Inc 2003 ll o La JB Dr Robot TEENIE 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 843 8572 Fax 905 943 9197 O WWW DRROBOT COM X Dr Robot e Ld V 3 Sample Application 2 WiRobot DRK6000 8000 Controller VC The second sample application demonstrates how to program a VC application using the WiRobot system The GUI of this program int
11. ing function calls offered by the WiRobot SDK ActiveX Module Details of this ActiveX control component can be found in the WiRobot SDK API Reference Manual After the connection is established between the robot and the PC user can start to use the WiRobot system by running the sample applications offered in the WiRobot software package Copyright Dr Robot Inc 2003 8 La 0 Dr Robot 25 Valleywood Dr Unit 20 Markham OM LIR 5L8 Canada Tel 805 843 9572 Fax 905 943 9197 WWW DRROBOT COM O30rRobot V Building PC Applications Using SDK This section will discuss how to program user s applications Several sample applications with source code are provided to help user kick start in using the WiRobot system All these source code will be stored in the 5ampleApps folder under the WiRobot SDK installation location V 1 Using WiRobot SDK Component ActiveX Control When user starts to urite an application he she first adds the WiRobot SDK Component in your VB or VC project The ActiveX object is installed during the installation process and the following is a step to step guideline showing how to incorporate the ActiveX Control into a VB 6 0 project e Create anew VB project e Click Project in the menu and choose the Components a Project1 Microsoft Visual Basic design File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help T idis ti naa KI Cu bog 2 ME G tS Era
12. isting features User can visit www DrRobot com to check for any new updates available for the existing system 13 25 Valleywood Or Unit 20 Markham ON L3R 5L8 Canada Tel 805 943 9572 Fax 905 843 8187
13. of ActiveX control components SDK developed for MS VC and VB programming environment Multiple PC programs are also allowed to access the data information obtained from the sensors simultaneously High level schemes such as tele operation navigation reasoning learning recognition and image processing routines are programmed and executed on the PC remotely Multi robot coordination is also feasible for applications like soccer game Microsoft Visual Studio programming environment is chosen as the development platform due to its popularity and ease of use than the non user friendly embedded programming interface Note that communication protocol for WiRobot system is also available for developers researchers uho prefer to use different platform or operating systems to communicate and control the WiRobot system But this document focuses on hou to use the WiRobot system using the SDK under Microsoft platform As well WiRobot system already comes with low level drivers for all its electronic modules and can provide a flexible way for users to control the robot For instance it allows user to control standard servo motors and DC motors by using the built in commands available in the control command library which offers several types of DC motor control method including open loop PWM closed loop position control closed loop velocity control and closed loop current control Control parameters are also configurable Copyright Dr Robot Inc 2003 3
14. r the power supply requirement turn on the robot the WiRobot system and start the WiRobot Gateway software On the WiRobot Gateway interface user should select the option corresponding to the physical connection e Serial Cable if user uses a null modem serial cable to connect directly to the robot user should select the Serial Cable option on the GUI e Wireless connection if user uses the RS232 wireless module he she should select the Wireless Connection and type in the wireless address of the robot The address is labeled at the bottom of the uireless module Copyright Dr Robot Inc 2003 7 q 25 Valleywood Dr Unit 20 Markham ON LIR 5L8 Canada Tel 805 843 9572 Fax 905 943 9197 WWW DRROBOT COM Q Dr Robot A Connection Setting S eral Port co Ml Serial Cable C Wireless Connection Robot Address 00043ec02e65 Connection Status Connect Hetwork Status lt 0 mi Figure IV 3 GUI of WiRobot Gateway on PC The WiRobot Gateway will provide connection status information between the PC and the robot This program is required to keep rumning as long as the user wants to access and control the robot through the sample applications or their custom programs Robot data acquisitions including human sensor ultrasonic sensor Infrared distance sensor tilting sensor potentiometer color CMOS image sensor microphone and etc and motion control can be done by mak
15. stand how to use this system The developers should have basic knowledge in Microsoft Visual C or VB Detail programming information can be found in WiRobot SDK API Reference Manual and relevant WiRobot User Manuals l c Feedback If you find any problems in this document please send us your feedback to support drrobot com Copyright Dr Robot Inc 2003 2 o JB Or Robot 25 Valleywood Or Unit 20 Markham ON L3R 5L8 Canada Tel 905 943 9572 Fax 905 843 8187 A osor com Or Robot Il WiRobot Overview WiRobot is an integrated electronic and software robotic system extended from Dr Robot s comprehensive humanoid robot which has demonstrated its interactive capabilities in the public and the media Each WiRobot development system is designed to provide a user friendly programming environment for hobbyists students in robotic areas and researchers to develop their robot programs and applications at an affordable cost The pouer of WiRobot mobile robot system comes from the Dr Robot s Distributed Computation Robotic Architecture and System DIRAS technology which offloads most of the computation and storage intensive tasks to a home PC Through a digital wireless connection supporting over 1OOkbps data communication rate user programs running on PC are virtually connected directly to the WiRobot development system Data such as image audio sensor information and etc are available to the user through a set
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