Robugtix Controller User`s Manual v1.2
Contents
1. This somewhat resembles how a car would move differential drive Moving the joystick forward or backward would command the robot to walk forward or backward Moving the joystick left or right will command it to walk turning left or right e Walk Crab Mode Wc just like a crab the robot s main walking direction is sideways You can achieve this sideways walking motion by moving the joystick left or right Moving the joystick forward or backward would command the robot to turn left or right JOYSTICK B TRANSLATE BODY XYZ This joystick will shift the robot s body position on either one of three possible imaginary planes XY XZ or YZ while keeping the leg tips at the same location using inverse kinematics calculations Clicking on Joystick B will toggle between the different translation modes e Translate Body XY Txy translates the body along the XY plane e Translate Body XZ Txz translates the body along the XZ plane e Translate Body YZ Tyz translates the body along the YZ plane JOYSTICK C MENU NAVIGATION The menu system makes it simple to change a setting or select a pre programmed sequence to run To enter the menu click once on button C to select Menu Move the joystick up down left or right to navigate the menu system Clicking will select or execute the option that appears on the LCD screen e Right enter sub menu e Left exit sub menu e Up Down scroll between the available options e Click2. select execute To exit the menu system simply click on any joystick other than C click on either A B or D Robugtix Controller User s Manual page 3 5 Copyright 2013 Robugtix Ltd All rights reserved www robugtix com The menu system is structured as follows gt Main Menu o Gait Metachronal Mode Tripod Mode Ripple Mode O Sequence Sequence 1 Greetings Demo Sequence 2 Smooth Gait Transition Demo Note while running a sequence the joysticks and buttons will be temporarily deactivated until the sequence is over JOYSTICK D ROTATE BODY XYZ This joystick will rotate the robot s body position along either of three possible pairs of axes ZX YX or ZY while keeping the leg tips at the same location using inverse kinematics calculations Clicking on Joystick D will toggle between the different rotation axes e Rotate Body ZX Rzx rotates the body along the Z and X axes e Rotate Body YX Ryx rotates the body along the Y and Z axes e Rotate Body ZY Rzy rotates the body along the Z and Y axes CUSTOM PROGRAMS If you re familiar with AVR or open source Arduino C C programming you will have the ability to command the robot to move in lots more creative ways For reference and as a good starting point to modify or create your own sequences the open source library for the Robugtix Controller is available for download on the website http www robugtix com robugtix controller This li
3. ROBUGTIX CONTROLLER USER S MANUAL HOW TO SETUP THE ROBUGTIX CONTROLLER Insert the XBee module into the corresponding slot as shown in the image below For maximum wireless communication distance extend the antenna into a straight vertical position The wireless XBee module should be inserted as shown Insert either 4 alkaline 1 5V AAA batteries or 4 NiMH 1 2V AAA batteries into the battery slot on the back side of the controller Alternatively you may also power the Robugtix Controller using the provided USB cable by directly connecting it to your computer or any 5V USB power supply That s it You re all set To start using the controller turn on the power switch Note the power switch will only control the power coming from the batteries and not the USB cable When using the USB cable the Robugtix Controller will remain powered until you unplug the cable This feature allows the user to upload a new program with the USB cable while keeping the batteries switched off Robugtix Controller User s Manual page 1 5 Copyright 2013 Robugtix Ltd All rights reserved www robugtix com USING THE ROBUGTIX CONTROLLER After turning on the power switch a startup message RoBUGtix will appear on the screen During this brief startup period the controller will calibrate the joysticks so it is recommended to not move any of them until the message RoBUGtix disappears and the controller enters the main user interface scree
4. a2 int data3 int data4 maximum maximum minimum int minimum int void setBodyPositionLimits int axis int void setBodyRotationLimits int axis int void setBodyMotionProfile int profile void translateBodyTox int pos int durationMillis void translateBodyToY int pos int durationMillis t i void translateBodyToZ int pos int durationMillis void rotateBodyToX int angleDeg int durationMilli void rotateBodyToY int angleDeg int durationMillis void rotateBodyToZ int angleDeg int durationMillis void translateBodyToxYZ int posxX int posY int posZ int durationMillis void rotateBodyToxYZ int angleDegxX int angleDegY int angleDegZ int durationMillis void realTimeTranslateBodyTox int pos void realTimeTranslateBodyToY int pos void realTimeTranslateBodyToZ int pos void realTimeRotateBodyTox int angleDeg void realTimeRotateBodyToY int angleDeg void realTimeRotateBodyToZ int angleDeg void setLegMotionProfile int legNumber int profile void setLegAutoLock int legNumber int autoLock void stepHeight int legNumber int height void lineMoveLegToxYZ int legNumber float posxX float posY float posZ int durationMillis void lineMoveLegToFootstep int legNumber int durationMillis void oneStepLegToxYZ int legNumber float posxX float posY float posZ int durationMillis void oneStepLegToFoot
5. brary features a set of wrapper functions that simplifies the sending of 8 bit serial command codes as described in the document Serial Command Reference for iitsii which is also available for download at our website Appendix A is a complete list of available wrapper functions in the Robugtix Controller library These are building blocks that can enable you to create more creative and complex things TECHNICAL SUPPORT If you need additional help or have questions comments or suggestions please send us an email at support robugtix com Robugtix Controller User s Manual page 4 5 Copyright 2013 Robugtix Ltd All rights reserved www robugtix com APPENDIX A WRAPPER FUNCTIONS FROM ROBUGTIX CONTROLLER LIBRARY RobugtixCommand h ifndef ROBUGTIXCOMMAND define ROBUGTIXCOMMAND include RobugtixCommon h class RobugtixCommand private public SoftwareSerial serial void sendCommand int opCode0 int opCodel void sendCommand int opCode0 int opCodel int data0 void sendCommand int opCode0 int opCodel int data0 int datal void sendCommand int opCode0 int opCodel int data0 int datal int data2 void sendCommand int opCode0 int opCodel int data0 int datal int data2 int data3 void sendCommand int opCode0 int opCodel int data0 int datal int dat
6. n The Robugtix Controller startup screen THE USER INTERFACE The first menu you will see after the startup screen is shown here The Robugtix Controller Main User Interface Screen There are four joysticks in the Robugtix Controller labeled A B Cand D the letters of each joystick are indicated on the Robugtix Controller PCB which can be used to control the movements of the robot Additionally each joystick has a clickable pushbutton which can be used for selecting options or toggling between different modes of operation Robugtix Controller User s Manual page 2 5 Copyright 2013 Robugtix Ltd All rights reserved www robugtix com PREPROGRAMMED COMMANDS The Robugtix Controller comes pre loaded with a useful set of commands for controlling your Robugtix robot Depending on the robot model you purchased the Robugtix Controller will feature commands tailored to your specific model The open source firmware that has been pre loaded into your Robugtix Controller can be downloaded at http www robugtix com robugtix controller The following part describes what each joystick has been pre programmed to do JOYSTICK A WALK This joystick controls walk motions in different directions The speed of the walking motion is based on how far you move the joystick Pre loaded are two different walking modes Differential and Crab Mode Clicking on Joystick A will toggle between these two modes e Walk Differential Mode Wd
7. oid ultrasonicPing for iitsii only void ultrasonicRepeatingPing int delayMillisBetweenPings for iitsii only void deltaServoCalibrationoOffset int servoNumber int deltaPulse for T8 only void zeroServoCalibrationOffset int servoNumber for T8 only void saveServoCalibrationChangesToMemory for T8 only void manualControlBodyMove int tXmmPerSecond int tYmmPerSecond int rZmmPerSecond for T8 only IP SE AG ndif DOCUMENT HISTORY Release Date Description 1 0 2013 09 09 First Release 1 2 2013 09 28 Updated Appendix A to include commands for T8 spider robot Robugtix Controller User s Manual page 5 5 Copyright 2013 Robugtix Ltd All rights reserved www robugtix com
8. step int legNumber int durationMillis void moveNeck int angle int durationMillis for iitsii only void moveTailHorizontal int angle int durationMillis for T8 only void moveTailVertical int angle int durationMillis for T8 only void realTimeMoveTailHorizontal int angle for T8 only void realTimeMoveTailVertical int angle for T8 only void legLock int legNumber int lockStatus void centerAllServos void defineStanceFootsteps int stanceNumber int legPairNumber int footOffsetX int footOffsetY void changeStance int stanceNumber void changeGaitMode int gaitMode int gaitCycles void setWalkingSpeedProperties int maxWalkingSpeed int maxWalkDistancePerGaitCycle void legUpRatio int legUpPercentage void walkx float xSpeed void walkY float ySpeed void walkTurnZ int zTurnSpeed void combinedWalk int xSpeed int ySpeed int zTurnSpeed void stopWalking void lowerAllLegs void walkInPlace int numberOfCycles int durationMillisPerCycle void clearSong int songNumber fOe Baten only void recordMusicalNote int songNumber int channelNumber int noteFrequencyID int noteLength for iitsii only void setTempo int beatsPerMinute for iitsii only void playSong int songNumber for iitsii only void led int ledNumber int redBrightness int greenBrightness int blueBrightness int durationMillis for iitsii only void led int brightness int durationMillis for T8 only v
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