A Beginners Guide To Programming For The PPRK
Contents
1. If you want the Go button to draw the Functions Form on top of the current form then the case would be case MainGoButton frmP FrmInitForm FunctionsForm FrmDoDialog frmP FrmDeleteForm frmP handled true break Menus Another way to launch events is to use menus This can be done by simply changing the existing MainFormDoCommand generated static Boolean MainFormDoCommand UInt16 command Boolean handled false FormPtr frmP switch command existing code generated by wizard case MenuMenulItem yourfunction return handled Code for Controlling PPRK After getting your new project to compile with some handy forms menus and buttons you re ready to start making those buttons send commands to the PPRK s SV203 through the Palm s serial port If you have problems getting the files from the Carnegie Melon website to compile directly you may want to take the approach of harvesting their 10 code adapting it if need be and implementing it in your own project Remember to give credit in your code where credit is due Communicating With the SV203 The first things you ll need are some send and receive functions for communicating with the SV203 A SV203 user s manual is supplied in the PPRK kit In the back of it is a list of commands that can be used to control the SV203 All of your higher functions are built upon these commands Luckily Greg Reshko of Carnegie Mellon Un2. To add a form analogous to a new window in Windows Open the rsrc file with Constructor Single click on the Forms section title Press Ctl R or Edit gt gt New Form Resource Give the new form an appropriate name E nd oo To edit the form just double click on it and use the objects available in the catalog Extra menus can also be added A menu bar was auto generated with the project To add another menu to that menu bar 1 Double click on Main Form under Menu Bars 2 Press Ctl M or Edit gt gt New Menu 3 Add menu items with Ctl R or Edit gt gt New Menu Item Connecting the User Interface with the Code Unlike some development environments Codwarrior does not automatically add code snippets for each object added to the user interface to the project If you want to use the button forms menus etc you ll have to add the code yourself By opening the header h file generated by Constructor you can see how objects are named For forms Constructor uses the format lt Form Name gt Form For buttons the format is lt Form Name gt lt Button Name gt Button Menus are named lt Menu Name gt Menu and menu items are named lt Menu Name gt lt Menu Item Name gt If you re ever unsure of what an object would be called just open up the h file generated by Constructor and look at the name it was given Forms You ll probably want to have a from handling event function for each form you create The wizard created one i
3. 1l 10 incoming 1l incoming 3 0 if incoming 0 1 two digit number cut off incoming 2 0 value StrAToI incoming return value i Math Library In order to use more complex math functions such as powers log natural logs etc you ll need to open the math library You ll need two functions provided by Reshko KK KK KK RR KKK kk kk kk k kk K k K k RR RA AAA A A A A A A A k k k kk Functions OpenMathLib CloseMathLib Description This function opens and closes MathLib Parameters None Credit Greg Reshko of Carnegie Mellon University Last modified 4 03 2000 FER RR RR XX XX XX XX kA kk kk kk kk kk kk k kk k K k K KA KA KA KA KA KA KA KA KA KA KA A k k kk void OpenMathLib Err error find and open MathLib library error SysLibFind MathLibName amp MathLibRef if error error SysLibLoad LibType MathLibCreator amp MathLibRef ErrFatalDisplayIf error Can t find MathLib error MathLibOpen MathLibRef MathLibVersion 11 12 ErrFatalDisplayIf error Can t open MathLib void CloseMathLib Err error close MathLib library UInt16 usecount error MathLibClose MathLibRef amp usecount ErrFatalDisplayIf error Can t close MathLib if usecount 0 SysLibRemove MathLibRef You ll then need to call on OpenMathLib inAppStart and CloseMathLib inAppStop Additional Functions Of course
4. AEE E E tat a to Gl S aio RIGA E Coat na Sala Function RC Description This function gets strings from the board Parameters buffer Credit Greg Reshko of Carnegie Mellon University Last modified 4 03 2000 FRR AR RRA RAR RA RAR A kk k k k kk k kk kk k k k k k k k II A k void Rc char buffer Err error receive from portRef into incoming buffer using 5 bytes and 3ms timeout SerReceive portRef buffer 4 10 serror receiver buffer SerReceiveFlush portRef 5 flush receive buffers SerSendFlush portRef flush send buffers Controlling the Servos The send and receive functions allow for the creation of servo control functions Notice the way the parameter is used By physically modifying the servo you can no longer tell the servo to move to an absolute position but supplying different positions that it will never reach will act as a speed control The servos were modified to think they were at the mid point of its range 128 Telling the servo to move to a position 10 11 greater than 128 will cause the servo to spin CCW and less than 128 CW The servo will try to move quickly to positions far away near 255 or 1 or slowly to closer positions close to 128 The values 128 and 0 are used for stopping the servo For example KR KK KK Kk kA kk kk kk kk kk kk kk k k k A RA A KA A A A A A A A k A k k kk Function Servo Description This function utilizes Tx to send the servo number and veloc
5. A Beginners Guide To Programming For The PPRK Compiled By Sam Utley December 2003 Table of Contents Introduction 5 sss ens oa S30 A8 B ios os sens Aa GR VA v aden Nea Pb od ev a 3 Assemble the PPK Mo ho oo o o oo Bo o o ny 3 Set p th Palm Pilotinin rerai aT a aaa asc das dea bas k ozn kamose 3 Setup COdeW arr lOr esmena ln la aide dod al P to eon Me 3 Test OUT PP RIG oo tote niceties sda aii oka eas MN Oa aca koa o ko a o Cao ooo oo o 4 Get Olle Os Project Started 3 46 ze dada taal ecathuctntel A sta sd a uto a 4 Renaming Your Project A c76n ccteiaesdnteane eon dete eaeenaedbou santas colnet Sa 4 Setting Up the Palm Bri ator s t Sean dncsaeweceiaed caeteracousiiiea eves enews u Saias 5 Compiling Your Project for the First Time cecccecscessceeeseceseeeeeeeeseecaeceeeeseeeenseeeaeees 6 Changing the User Interface 41 Apzedtlon d ata vers sage ettonedse sctadevaseuaraetasatias db n dated 6 Connecting the User Interface with the Code iis usne adiksisdid deji doa z ss bedddaksiadnda daar 7 OTIS cops sede ose dno ad Bek ou dak dd a o ta te oda te eo eae 7 A0 LAKO a KRA A AERE EEA E oo ode 8 Menusa A ala AG oh ooo ooo o Re oo 9 Code far Controllin PPRK csie aa dele EE E E E RR 9 Communicating With the SV 205 35456 dadsm cent Ascenso sda dstdyksu edk dik post 10 Controlling the SEES onou sadu ob oo ol oo sol atk a a oo bo sa 10 Reading the IR Rangers as doo o O BOR n o E oa 11 Math EAD Ary essensies dead asd
6. ably have to choose other and find the ROM file on the computer the first time it is launched 7 Select the correct device corresponding to the ROM file chosen e g Vx 8 Select OK You now have a working emulator The Palm emulator can be controlled by using the mouse pointer just as you would the stylus The skin can be changed to make it look like the Palm being programmed for but that isn t necessary Please note that when programming for the PPRK you may begin to get errors on the emulator that you wouldn t get on the actual Palm Compiling Your Project for the First Time Using Codewarrior IDE you can now make and run your project Pressing the F7 key will make the project Ctl F5 will run the newly made prc file in the emulator There isn t much to the new program There is just an About Start App menu on the Main form and an About Starter Form Changing the User Interface The user interface can be easily and quickly changed by modifying the Starter rsrc file For example Double click on Starter rsrc to launch it in Constructor Double click on Main under Forms Select Window gt gt Catalog Click on Button in the Catalog window and drag it onto the Main form shown Save the changed Starter rsrc file File gt gt Save 6 Regenerate the header file File gt gt Generate Header File Pa dl U Remake the project launch the emulator and run the program Notice a button now appears on the main form
7. bee dumelbae sd E R ANES EAE ETA RE ERES 11 Additional PUNCHONG secera sadou delate kasu ene etnika 12 CONE STON S en 03004 Bada ole SOURCE SKK A O OHA aan A oD oo od nooo dak 13 Introduction The Palm Pilot Robot Kit PPRK designed by the Carnegie Mellon Robotics Institute is an easily assembled robotics kit that allows almost anyone to begin building and programming a robot at relatively little cost Well almost anyone Anyone that knows how to create a program for PalmOS for communicating through the Palm s serial port and can understand some inline assembly commands is well suited to take on the challenge That sounds daunting but it s not impossible The hardest part is getting started off on the right foot A program that contains good examples and a few simple instructions on getting together a program that compiles can allow a user to have a PPRK moving in no time The following guide was written after using Metrowerks Codewarrior for PalmOS v8 to write a program for controlling a PPRK purchased from Acroname Inc Assemble the PPRK To begin with you ll want to assemble your PPRK so go ahead and excitedly open the seal on your kit box and follow the instructions found on Acroname s website at http www acroname com robotics info PPRK assembly assm1_1 html You ll have to do some soldering but not much Remember to have your shrink wrap already on your wires before soldering them in place If you ve never sold
8. c ServoTest prc and Robotl prc files from http www 2 cs cmu edu pprk The pre extension is to the Palm what the exe is to the PC It is a premade application ready to be executed After downloading the files you can double click on them to add them to the Install Manager and sync your Palm With your Palm in the cradle first install MathLib pre and then ServoTest pre and Robotl prc After installing these applications you can connect your Palm to your PPRK and try them out Warning these applications may not appear fully functional but they give a good sense of what type of user interface is friendly and what the PPRK can do Get Your Own Project Started To make your own application you ll first want to start with a project that actually compiles If you re not a programming wiz and you just try to download the great examples from Carnegie Melon http www 2 cs cmu edu pprk and compile them you ll spend a lot of time trying to figure out what s wrong It may be easiest to start with a blank project and copy and paste code from the examples on Carnegie Melon s site To begin a new project 1 Launch Codewarrior IDE 2 Create a new project and launch the Palm OS Application Stationary Wizard File gt gt New gt gt Project gt gt Palm OS Application Stationary 3 Point the location field to a convenient place to save your project 4 Give a project name that reflects its purpose e g RobotMapper 5 Select OK 6 Sele
9. ct Palm OS C App as the stationary type 7 Select OK Codewarrior generates a set of files for the new project Files can be added or deleted from the project tree structure but deleting files from the tree structure does not delete them from the computer Deletion simply alters the mcp project file which keeps track of project settings and folder structures The Starter cpp file contains all the code that controls the actions of the Palm i e form handling opening closing serial port etc The Starter rsrc file is the project file for the Palm user interface that allows the user to interact with the functions contained in Starter cpp The rsrc file can be opened and modified using the Constructor program included in the Codewarrior package Renaming Your Project The name Starter isn t really specific and some modifications can be made to get rid of it If you are happy with this name then just skip to the next section To get rid of the name Starter 1 In Codewarrior IDE double click on Starter cpp to open it 2 Atthe top you ll see include StarterRsc h Replace StarterRsc with lt your new name gt h e g include RobotMaper h See O 12 13 14 15 16 17 18 19 20 21 22 23 24 0 1 Change Target gt gt Target Settings gt gt Target Name to lt your new name gt Select File gt gt Save As gt gt lt your new name gt and close the newly sa
10. ered before you may want to check out some soldering guides on the web e g http www circuittechctr com guides 7 1 1 shtml or http www mindhertz com Solder php Setup the Palm Pilot After your robot is together you ll need to get together all of your Palm equipment You can get by with a minimal install of the Palm Desktop software All you need is the HotSync Manager and Install Tool The Palm cradle connects to your computer s serial port but if you have a newer laptop you may not have a traditional serial port available If you only have a USB port available you can obtain a USB to Serial PDA adapter that will allow you to connect the Palm to the laptop While writing this guide a Keyspan USB PDA adapter was used http www keyspan com products usb pdaadapter on a Sony Viao laptop running Windows XP Home If Hotsyncing your Palm doesn t work immediately you ll want to change the Com port settings for the Hotsync Manager Setup Codewarrior Finally you ll need to install a complier for creating and making programs for the Palm This guide is targeted towards using Metrowerks Codewarrior IDE and Constructor Just follow the instructions on the install You re now ready to begin programming for the Palm and running your PPRK http www 2 cs cmu edu pprk 2 http www palmsource com 3 http www metrowerks com 4 http www acroname com index html Test Your PPRK To test your robot download the MathLib pr
11. he Message function allows for the displaying of number to the screen in a Label field named MainMessageLabel This label can be created in Constructor and the name can be changed The Wait function allows for the delaying of events It uses the 12 13 TimGet Ticks function One second is about one thousand ticks TimGet Secs could also be used to retrieve integer seconds instead of integer ticks It s fairly easy to harvest code from examples Just make sure that you have all the needed header files are included all of your functions have prototypes and that any old variable type declarations are updated e g ULong to UInt32 Ptr to MemPtr Conclusions You should now have all the tools you need to begin programming the Palm for controlling your PPRK With a clean project some buttons and a little code harvesting getting your bot to run will be no problem I would like to acknowledge the great work of Greg Reshko of Carnegie Mellon University and the help provided by Don Potter of the University of Georgia 13
12. ity Parameters servo number ie 1 2 3 x velocity 0 to 255 Credit Greg Reshko of Carnegie Mellon University Last modified 4 03 2000 FER KR RR XX XX XXX XX XXX KX KKK AK XK K KX KA KA KA KA KA KA KA KA KA KA KA KA KA KA K k k kk void Servo int servo number int velocity Tx SV servo number Tx M velocity Reading the IR Rangers The PPRK also comes outfitted with 3 IR range finders that output fairly reliable reading between 10 and 70 cm The readings do fluctuate and some averaging of the values over time my want to be performed if your readings are critical One again the Rx and Re functions are utilized to poll the Analog to Digital ports This principle can be used to interface the SV203 with any sensor with an analog output An example of reading the IR sensors is KR KK k kk kk kk kk kk kk kk kk kk k Kk K kk kk kk K AA A KA KA A A A KA A A A k k k kk Function IRDist Description This function reads IR and returns distance in cm from obstacle Uses Tx Rc Parameters ir number the number of the IR being read Credit Greg Reshko of Carnegie Mellon University Last modified 4 03 2000 FRR RR kA XX XX XX XXX XXX kk kk kk kk kk kk K k KKK k KA KA KA KA KA KA KA KA KA KA KA KA A k kk int IRDist int ir number int value 0 char incoming 999 Tx AD ir number Rc incoming buffer correction replace all ASCII non numbers with spaces for int 1 0 1 lt 2 1 if incoming
13. iversity provided some nice functions that accept a command and a parameter called Rx and Rc in the examples on the web You ll need to include SerialMgrOld h for the serial functions to work You ll also need to include this in AppStart void SysLibFind Serial Library amp portRef find serial library SerOpen portRef 0 9600 open COM port You ll need to include this in AppStop void SerClose portRef Close Serial Port The examples are include lt SerialMgrOld h gt RRR IKK kok k kok k k kok k k kok k oko k kok k k kok k kok AR IA RAR AA IA A I A k k k k He Function Tx Description This function sends strings to the board A list of possible strings to x send is listed in the back of the SV203 manual Parameters command The prefix of the command to be sent parameter usually a number Example You can send SV1 to talk to servo 1 Credit Greg Reshko of Carnegie Mellon University Last modified 4 03 2000 FR AR IR ARIA IARI ARR kok kok k kok k kk k kk k kk k k k k k kk void Tx char command int parameter Err error char prm_buffer Me parameter buffer StrPrintF prm buffer Sd r parameter store param and r into buffer SerSendWait portRef 1 wait for port to clear SerSend portRef command StrLen command amp error send buffer SerSendWait portRef 1 wait for port to clear SerSend portRef prm buffer StrLen prm buffer amp error send buffer
14. n Starter cpp called MainFormHandleEvent to handle events that occur on the form named Main For example if you add another form named Functions that does something more than just return to the form Main you ll want to copy and paste the MainFormHandleEvent function and rename it FunctionsFormHandleEvent If the main purpose of your form is to just display a message e g the About Form then having a separate event handler for it is unnecessary static Boolean FunctionsFormHandleEvent EventPtr eventP Boolean handled false FormPtr frmP switch eventP gt eType case menuEvent return MainFormDoCommand eventP gt data menu itemID case frmOpenEvent frmP FrmGetActiveForm MainFormInit frmP FrmDrawForm frmP handled true break case frmUpdateEvent break default break return handled Make sure you add this form to your AppHandleEvent so that it can be accessed static Boolean AppHandleEvent EventPtr eventP UInt16 formId FormPtr frmP if eventP gt eType frmLoadEvent formId eventP gt data frmLoad formID frmP FrmInitForm formId FrmSetActiveForm frmP switch formId case MainForm FrmSetEventHandler frmP MainFormHandleEvent break case FunctionsForm FrmSetEventHandler frmP FunctionsFormHandleEvent break default break return true return false To call upon a form handling even
15. t PalmRez Post Linker gt gt Output File to lt your new name gt pre Change Linker gt gt PalmRez Post Linker gt gt Database Name to lt your new name gt Select Apply Your project should now be completely customized name wise to your liking For convenience the application will continue to be referred to as Starter instead of lt your new name gt Setting Up the Palm Emulator Before beginning to program you want to get a Palm emulator up and running so that user interfaces and simple functions can be tested quickly without having to download the program to an actual Palm In order to get the emulator working a ROM image of the Palm being programmed for is needed This can be uploaded from a FRESH Palm nothing has been installed on it yet or downloaded from http www palmos com dev tools emulator Once the correct ROM image has been obtained it should be extracted to a known place on your computer where it will permanently reside To get the emulator working 1 Select Edit gt gt Preferences gt gt Debugger gt gt PalmDebugger Settings 2 Change Target to Palm OS Emulator 3 Change Location to lt Path to Palm Emulator executable gt This is probably located at lt Path to CodeWarrior gt Palm Tools Palm OS Emulator Emulator exe 4 Select OK 5 Select Palm gt gt Launch Emulator This will launch a new emulator session 6 Select the ROM file to use e g palmos33 en v rom You ll prob
16. t use FrmGotoForm FunctionsForm To draw a form on top of another e g the About Form use frmP FrmInitForm FunctionsForm FrmDoDialog frmP Display the Form named Functions FrmDeleteForm frmP Erase the Form when it returns Buttons One way to allow a user to launch forms or other events and functions is to use buttons You ll need to add a ct 1SelectEvent to your form handling event For instance if a Go button is added to the Main Form then this snippet of code could be added to the MainFormHandleEvent static Boolean MainFormHandleEvent EventPtr eventP existing code generated by wizard switch eventP gt eType case menuEvent return MainFormDoCommand eventP gt data menu itemID case ctlSelectEvent switch eventP gt data ctlSelect controlID case MainGoButton yourfunction handled true break default break rest of generated code return handled When the application is launched and the Go button is pressed yourfunction will be launched When the function returns handled will be set true so that event can be taken off the event stack Buttons can also send you to different forms using the code presented in the Forms section of this guide If you want the Go button to send you to the Functions Form then replace the MainGoButton case above with case MainGoButton FrmGotoForm FunctionsForm handled true break
17. ved file Your project will update by replacing the Starter cpp file with lt your new name gt cpp Double click on Starter rsrc to open it with Constructor Under Project Settings at the bottom of the Constructor window change Header File Name from StarterRsc h to lt your new name gt h and the Application Icon Name to lt your new name gt Resave it as lt your new name gt rsrc in your project s Rsc folder and close Constructor Select Starter rsrc and press delete Right click on the Resources folder and select Add Files Add lt your new name gt rsre and lt your new name gt h Choose Edit gt gt Starter Debug Settings Debug Change Target gt gt 68K Target gt gt File Name to lt your new name gt d tmp Change Linker gt gt PalmRez Post Linker gt gt Mac Resource Files to lt your new name gt d tmp Change Linker gt gt PalmRez Post Linker gt gt Output File to lt your new name gt pre Change Linker gt gt PalmRez Post Linker gt gt Database Name to lt your new name gt Select Apply At the top of your main project window use the drop box to select Starter Release Choose Edit gt gt Starter Release Settings Change Target gt gt Target Settings gt gt Target Name to lt your new name gt Release Change Target gt gt 68K Target gt gt File Name to lt your new name gt tmp Change Linker gt gt PalmRez Post Linker gt gt Mac Resource Files to lt your new name gt tmp Change Linker gt g
18. you re probably going to want to have some loops in your program For instance a loop that constantly drives the robot and adjusts its trajectory based on the IR sensor readings Unfortunately I haven t really nailed down the whole using ctlSelectEvents to cause a loop to stop yet However you can easily use Reshko s SmartWait function to watch for penDownEvents The following functions show a function that watches for penDownEvents when someone touches the screen and an example loop that kicks out when the penDownEvent occurs void Message int number FormPtr frm FrmGetActiveForm char numbertxt y FrmCopyLabel frm MainMessageLabel numbertxt StrIToA numbertxt number FrmCopyLabel frm MainMessageLabel numbertxt void Wait int delay_ticks UInt32 start_time start_time TimGetTicks while TimGetTicks lt start_time delay ticks int SmartWait int delay_ticks UInt32 start_time EventPtr quit_event start_time TimGetTicks while TimGetTicks lt start_time delay_ticks EvtGetEvent guit event 1 get event using 1lms timeout if guit event gt eType penDownEvent return 1 return 0 void Loop void int i 0 do Message i Wait 500 Jwhile SmartWait 1 0 return You ll notice that some other functions were also included The Messsage int number andWait int delay_ticks functions can also be very helpful T
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