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1. ie HO COLE POLYTECHNIQUE BIOLOGICALLY INSPIRED F D RALE DE LAUSANNE ROBOTICS GROUP BIRG ELLIERIEILIE Bluemove User Manual Semester Project Winter 2004 2005 Cyril Jaquier K vin Drapel February 14 2005 Contents 1 Bluemove short manual ee a PM SR ee eee eee eee ee Eee ee eae wees 1 1 2 Java Bluetooth stack A ce eee ee CECI raso AA ee eu ee eee OMS RS 1221 Themed qz owe ERE Room mex ow EEE ewe eee 1 72 os Ms amas e Bales Bae 9 99 5 9 Rm SOMME S EE S S Ss 12 3 A 93 mx 4X RR XGRUMUEUR OE WO 9 RR ee eee Pe A 1 2 4 Modules Manager tabl 1 2 5 Console ADR 2x bees e Se eee Ree ee 1 2 6 The status bah A E eee ee ee eee TA S 1 3 1 Step one add a modulel 1 3 2 Step two edit a modulel 1 3 3 Step three add an actuator 1 3 4 Step four add another module 1 3 5 Step five draw a module trajectory spline 1 3 6 Step six draw a module trajectory linear 1 3 7 Step seven save the project e 1 38 A i sa sema ee ek a RR Ee eee d Ue Rod odes L39 Conchi e hoes GES eo 39 9 ORIS eS ww EOS EH REO s D 1 10 000 RE KR a 0 0 0 Q2 Co bo bh2 b2 EN Chapter 1 Bluemove short manual This chapter quickly describes the user inter face of the Bluemove application It is divided into three parts the first one explains
2. move and the pleasure of modular robotic C Jaquier K Drapel Bluemove User Manual HO BIOLOGICALLY INSPIRED ROBOTICS GROUP BIRG 1 2 User interface When you start Bluemove you see the main view of the application which contains four im portant parts e the menu bar e the tool bar e the tabbed pane e the status bar The tabbed pane contains several tabs which are respectively used to draw the module curves to manage the modules and to view the log mes sages In the next section we will take a close look at the different items available in the menu bar 1 2 1 The menu The menu bar is located at the top of the win dow It is composed of three menus each one containing several menu items The File menu This menu allows you to do the main operations on a project You can create a new project open or save a project You can also quit the application The last opened or saved project is remembered and can thus be quickly reopened The Options menu This menu allows you to set the properties of the application All the settings are locally stored on your computer The Help menu This menu contains a menu entry called Help It opens your favourite browser and redirects it to the Bluemove help site The menu item About displays information about your sys tem 1 2 2 The tool bar The toolbar contains shortcuts for useful actions like creating a new project saving or opening a pr
3. add a module First of all start the Bluemove application Af ter the splash screen you get a window similar to Figure File Options Help DOS RA 9 Timelines Modules Manager 2 Console Status Figure 1 7 Main screen C Jaquier K Drapel Bluemove User Manual HO BIOLOGICALLY INSPIRED ROBOTICS GROUP BIRG Now you have to describe the modular robot physically In order to do this switch to the modules manager tab At the top of the left part you should see a small icon representing a salamander followed by the text Project Click on this label This should enable the Add button at the bottom of the left part Click on Add A new module called Mod ulel is inserted 1 3 2 Step two edit a module Click on the label Module1 You should get a screen similar to Figure File Options Help DAEB RA 29 Timelines Z7 Modules Manager Console 4 Project y Module name Module1 gt ff Modulel IN ee Address 424952470001 MD Comment EAE K i 11 Delete Status Figure 1 8 Modules manager Now on the right part edit the Mod ule name field and type Head Enter the address corresponding to this module Here we suppose that our module has the address 4249524700012 Edit the Comment text area and type This is the head of our mod ular robot You
4. can now click on the Apply button Your window should look like Figure File Options Help DAEB RA 09 Timelines Z7 Modules Manager Console 4 T Project Module name Head gt f Head HELL Address 424952470001 Lee This is the head of our modular robot IT Comment LIT e Delete Status Figure 1 9 Module edition You can also use the inquiry function to found the available modules v1 0 February 14 2005 BET COLE POLYTECHNIQUE FEDERALE DE LAUSANNE 1 3 3 Step three add an actuator A module without an actuator can not move The YaMoR units have one actuator named Servol Let us add it to our Head module Expand the node Head on the left part Two nodes should appear Actuators and Sen sors Click on Actuators and then click on the Add button You get a new actuator called Actuatorl Click on the label Ac tuatorl You notice that the right part has changed Edit the field Actuator name and type Servol This is the servo name of the YaMoR units Set a Min value of 90 and a Max value of 90 Click on Apply Your window should be similar to Figure 1 10 File Options Help D amp amp RA 39 Timelines Z7 Modules Manager YE Console Project Servol 9 M Head y Actuator name Servol Min value 90r4 rs 2 S
5. 1 2 Java Bluetooth stack In order to communicate with the module you need a Java Bluetooth stack There is a lot of different stacks available for Linux Windows and embedded systems Rococo offers a free implementation of the JSR 82 called Impronto for University students Other Java Bluetooth stacks can be found here 2 By de fault Bluemove is compiled to run with the Ro coco Impronto stack Rococo Impronto Rococo distributes its lImpronto Developer Kit for students under a license which does not allow us to distribute it with our soft ware Instead you must fil in the form available on Rococo websitd and wait for the confirmation e mail After you get the impronto 1 3 1 i386 rpm you can sim ply install the Rococo Bluetooth stack with rpm ivh impronto 1 3 1 i386 rpm This should install the required BlueZ libraries 1 If you encounter any problems please make sure that BlueZ is correctly installed and configured on your system Further information about the Impronto installation can be found in the file impronto user_guide pdf of the Bluemove archive Finally you have to read and agree the LinuxLicense txt file If you agree with the http www rococosoft com registration_linux html BET COLE POLYTECHNIQUE FEDERALE DE LAUSANNE license you must copy it into the same direc tory as Bluemove jar The Impronto stack will not work without this license file 1 1 3 Bluemove Bluemove is distrib
6. 52470001 gt Tail M 424952470002 PA rw rw T T T Dial m aa z Figure 1 12 Timelines tab should see the timeline on the right Enlarge the timeline a bit by dragging the bottom line Select the Spline tool in the tool bar Draw the same curve as the one on Figure 1 13 You surely noticed that spline keys are represented by a blue round Fil ptions Help D66 RA imelines Z7 Modules Mana ger 2 Console Q 9 Head M 424952470001 Q 9 servi 90 0 90 0 1 00 0 50 0 00 0 50 1 00 Tail 424952470002 T T T T gt e aja 0 5 10 15 20 Figure 1 13 The first curve with spline keys 1 3 6 Step six draw a module tra jectory linear Repeat the above step for the Tail module This time you will use only linear keys Select the Linear tool in the tool bar Linear keys v1 0 February 14 2005 BET COLE POLYTECHNIQUE FEDERALE DE LAUSANNE are represented by a green rhombus You should end with a window similiar to Figure 424952470001 90 0 90 0 424952470002 S 90 0 90 0 Status Figure 1 14 The second curve with linear keys 1 3 7 Step seven save the project Before going further it is high time to save your project Click on the menu named File and select the item Save As A file chooser
7. T EventQueue 0 89 DEBUG AWT EventQueue 0 1477 DEBUG AWT EventQ 0 late ol gt bi e timelines gui TimelinesTab i7 DEBUG AWT EventQi 0 late observer birg bluemove module gui ModuleTab 127 DEBUG AWT EventQi 0 rver birg bluemove timelines gui TimelinesTab DEBUG AWT EventQueue 01 Clear INFO AWT EventQueue 0 Opening first bluemove zip I DEBUG AWT EventQueue 0 Set el y home cyril o INFO AWT EventQueue 0 You open a project uemove timelines gui infotree ModuleInfoNode nestree ModuleTimelineNode DEBUG AWT EventQueue 01 DEBUG AWT E DEBUG AWT Event 0 DEBUG AWT EventQueue 0 g bluemove module gui ModuleTab ned DEBUG AWT EventQueue 0 Open command canc o DEBUG AWT EventQueue 0 Set current directory home cyril o INFO AWT EventQueue 0 You open a project Level ALL y Refresh 1000 x ms Clear x Status Figure 1 5 Console 1 2 6 The status bar The status bar displays information about the current action It is also used to display impor tant messages Status Figure 1 6 Status bar 1 3 Tutorial a small exam ple In this section you will get to know how to create a simple Bluemove project We consider that you have already installed the application and that you are able to start it You will also need to have two functional YaMoR units 1 3 1 Step one
8. cribed in this tutorial However you should be able to discover them on your own Do not forget to periodically check the help website 3 Lots of information on Blue move are available there v1 0 February 14 2005 Bibliography 1 Bluez http www bluez org 2 Java bluetooth http www javabluetooth com 3 K vin Drapel and Cyril Jaquier Using blue tooth to control a yamor modular robot http birg epf1 ch page56602 html 4 JCP Jsr 82 http www jcp org about Java communityprocess review jsr082 15 Sun Microsystems J2se 5 0 http java sun com j2se 1 5 0 download jsp 6 Rico M ckel Getting started user guide http birg epf1 ch page53075 2004 7 Rococo http www rococosoft com Index Bluetooth stack FPGA Java J2SE JAR JSR 82 log4j Xerces Rococo Impronto license
9. dia log appears Choose the directory you want and name your project first bluemove zip like on Figure 1 15 You probably noticed that Blue move projects are simply ZIP archives foo n pnn o a 6 le Look In C documents 4 3 benchmark pdf 5 gixinfo 6 8 903 D benchmark sxc D glxinfo 6 8 904 D bier sxw D glxinfo 6 8 1 902 D bluetooth pdf D bluetooth sxw Ey gixinfo 6 7 5 gixinfo 6 8 902 File Name first bluemove zip Files of Type All Files Save Cancel Figure 1 15 Saving a project 1 3 8 Step eight play We arrive at the last step of this tutorial Power on the modules and program the YaMoR FPGA This operation is described at section 7 3 3 of 6 Build the modular robot as shown on Fig ure ref fig step 10 Click on the Play button located at the bottom of the timelines tab After a few seconds the modules should start to move If so congratulations you have successfully completed this tutorial If nothing is moving then maybe your Bluetooth device is not correctly initialised You can switch to the C Jaquier K Drapel Bluemove User Manual HO BIOLOGICALLY INSPIRED ROBOTICS GROUP BIRG Console tab and set the debug level to ALL Retry this step and look at the console 1 3 9 Conclusion We briefly looked at the basic operations of Bluemove There are a lot of other features that were not des
10. ervol Actu Sensors Max value 90 Jator sors Delete 1 Figure 1 10 Actuator edition 1 3 4 Step four add another mod ule You should now be able to add another mod ule without any problems So restart at step one and add a new module called Tail with one actuator named Servol which range is be tween 90 and 90 We suppose that this module address is 424952470002 You should end with a screen similar to Figure 1 11 1 3 5 Step five draw a module trajectory spline We have finished the physical description of our modular robot In order to see our animal mov ing we have to draw the trajectory of its actu ators Here you will see the power of this soft ware Let us move to the Timelines tab Your screen should look like Figure 1 12 Expand the Head module by clicking on the small blue arrow located close to the label Do the same with the actuator Servol Now you C Jaquier K Drapel Bluemove User Manual HO BIOLOGICALLY INSPIRED ROBOTICS GROUP BIRG File Options Help D amp amp RA Timelines 7 Modules Manager 7 Console nier 1 F Project y Actuator name Servo1 Min value 9o Max value Delete Figure 1 11 Second module File Options Help DES RA 9 Timelines Modules Manager V Console Q gt Head M 4249
11. how to in stall the software and its requirements the sec ond one gives an overview of the user interface and finally the third part provides a step by step example which shows how to create a sim ple project with Bluemove 1 1 Installation In order to run properly Bluemove requires some additional softwares and libraries The fol lowing list summarizes the requirements for this application e A Linux system on a x86 machine e J2SE 5 0 Java JDK 5 0 or JRE 5 0 e Java Bluetooth stack JSR 82 compliant Other needed libraries log4j xerces are already included into the application You do not need to care about them 1 1 1 J2SE 5 0 Bluemove needs the J2SE 5 0 from Sun Mi crosystems Bluemove takes advantage of the latest features of J2SE 5 0 In order to get the best performance it is important to use the lat est J25E 5 0 version You can choose to in stall the J2SE Development Kit JDK or the J2SE Runtime Environment JRE depending on whetever you are a developer or not You can find the latest J2SE 5 0 here 5 We will not present the installation of the Java Envi ronment Instructions are available in the down loaded archive In order to see if the J2SE 5 0 is correctly installed open a new terminal and type the fol lowing command java version java version 1 5 0_01 You should get a string with 1 5 If not please reinstall the J25E environment and fol low carefully the instructions 1
12. imelines Modules Manager li Console Q 9 Modulei Q 9 servi M 424952470001 90 0 90 0 M 424952470002 9 servi 90 0 90 0 ble e Status Figure 1 3 Timelines range which will be used to send the position to the module Please notice that the YaMoR servo name is Servol You must use this name for the actu ator when using a YaMoR unit DAAB RA Timelines Z7 Modules Manager Console 4Bnake Project M 9 Module 49 Actuators WELT Status Figure 1 4 Modules Manager 1 2 5 Console tab The console tab displays the log messages gen erated by Bluemove You can set the level of the output and the refresh rate There are five levels of messages e DEBUG messages useful in order to debug the application e INFO information messages e WARN a problem leading to an error oc curred e ERROR something that should not have happened e FATAL unrecoverable error Each level is displayed in a distinct colour with its specific icon This allows you to quickly di agnose what appended in the application v1 0 February 14 2005 BET COLE POLYTECHNIQUE FEDERALE DE LAUSANNE File Options Help DAEB RA 9 Timelines I Z7 Modules Manager 2 Console ee M o DEBUG AWT EventQueue 0 Update observer DEBUG AW
13. oject v1 0 February 14 2005 BET COLE POLYTECHNIQUE FEDERALE DE LAUSANNE Options Help Ctrl N Ctrl Q Ctrl 5 New Open project Save Save As 1 first_bluemove zip Exit Figure 1 1 Menu DASH RA Figure 1 2 Tool bar 1 2 3 Timelines tab The timelines tab is the heart of Bluemove to gether with the modules manager You can draw trajectories for modules in the timelines listed there Left part Each module is composed of one or more actua tord Sensors can also be part of a module At the moment sensors are displayed but no man agement is available The name and the address of the module is displayed Right part In this right part you will be able to draw the trajectories of an actuator There are two key types e Linear key e Hermite spline key You can mix these two kind of keys in the same actuator timeline without any restriction The interpolation algorithm will take care of curves composed of these two types of keys 1 2 4 Modules Manager tab Within the modules manager you can declare the different parts of your modular robot You can describe every module set its name and address Each module can have several actu ators These components have a name and a 2A YaMoR module contains one actuator a S 71 servo C Jaquier K Drapel Bluemove User Manual HO BIOLOGICALLY INSPIRED ROBOTICS GROUP BIRG File Options Help DAEB RA 9 T
14. uted as a JAR archive Ev erything you need to run the application is em bedded into this file Thus the only thing you need to install Bluemove is to copy the JAR archive named Bluemove jar in a directory We recommend to unpack the Bluemove archive in your home directory and run the application di rectly from that location As seen above do not forget to copy the Im pronto license file in the same directory as Blue move 1 1 4 Launching the application Once the J2SE 5 0 the Java Bluetooth stack and Bluemove are installed you can finally launch the application To start with you need to initialise your Bluetooth device Open a terminal and type the following command as root hciconfig hciO up hciconfig hciO hciO Type USB BD Address 00 0C 76 48 87 7A Your BD Address should not be equal to 00 00 00 00 00 00 If so please check your kernel configuration and make sure that the needed modules are loaded or compiled into the kernel You can now go into the Bluemove directory and type the following command LD LIBRARY PATH usr lib java classpath Bluemove jar birg bluemove main core Bluemove The path usr lib represents the location of the file libimpronto so which is normally in stalled in usr 1lib You should now see the Bluemove splash screen and then the main screen If not please check that all the previous steps were success fully completed You are ready to discover the power of Blue

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