Dr Robot C# Advanced Sentinel 2 Demo Program
Contents
1. 2000 Unt Te ss Direct Input Device Enable Joystick Time Time Unit ms C Joystick Collision Avoidance Drive Joystick Send Out Wheel Power Left 26283 Right 6451 1 Camera Camera Camera IP 192 168 0 199 Camera Port 6081 Camera ID root Connected Camera Control Snapshot Pan ASI Rec Stop Reset Click connection status to connect to camera yellow text box display currently Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 6 2 Camera Control Camera Control ale AYI Rec snapshot Pan Stop Reset Snapshot Click the image should be saved at c drive as templ jpg you can modify store path ANI Rec Click to store the video at DrRobotSentinel 2Demo bin Debug folder with CLIP_YYYYMMDD HHMMSS avi you can modify store path m Click LE the camera should pan St Click to stop camera movement E eu Ci Di Di n Click to set the camera to original initial position Note For more camera function sample please refer to CD s PTZ Camera SDK folder 3 Range Sensor Range Sensor Ultrasonic 1 0 14m Ultrasonic 2 0 12m Ultrasonic 3 0 06m IR Range 1 0 28m IR Range 2 0 15m IR Range 3 0 10m IR Range 4 0 09m IR Range 5 0 09m IR Range 6 0 09m IR Range 7 0 23m 4 Motor Sensor Left Motor 240157 List the sensor reading Motor Sensor Encoder Position2. Full Current option for full current charge Selected O Half Current option for half current charge Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 1 O 14 Current Selected option for 1A current charge Selected O Tickle Current option for 300mA charge 20 Power Switch Control Power Switch Control Channel l Channel ll Channel il on OFF 0N Oor on OFF Channel l oN OFF n Selected ON OFF for Channel this should reset Camera power Channel ll ON OFF power Select ON OFF for Channel II this should reset motion Channel ill ON OFF Select ON OFF for Channel III this channel is reserved Tag Path Control X DrRobot Sentinel 2 Demo P2P Control Left Wheel Cmd 0 Right Wheel Cmd 0 P2P Cmd Time TargetX Target TargetDir StopTime ForwardSp Forgetable NonStop FinalPostuni TargetTime TargetToler MaxTurnSp CAEnable ReverseDri TargetDirTc 0 0 03 O O 200 0 1 35 F 15 O O O Open PathFile Mouse Point To Move P2P Task Type P2P Task Wandering Speed Map Ratio 35 Map XO 465 Map YO 225 re v Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 2 l Robot Path Control Information P2PStatus P2PGo P2P Control SpeedControl Left Wheel Cmd 360 Right wheel Cmd 334 P2P Cmd Time 3000 TargetX Target TargetDir StopTime ForwardSp Forgetable NonStop FinalPostuni TargetTime TargetToler MaxTurnSp
3. CAEnable ReverseDri TargetDirTc gt 2 34 11 23 0 0 415 O 200 01 35 Fi 15 O O D oO D 2 Path Control Panel C mouss otto P2P Task Type Wander Task v Wandering Speed J Map Ratio 35 Map XO 465 Map YO ui to select Path file Click Sto Click to stop robot movement P2P Task Type Wander Task w n for select the task when you select Wander Task to execute the task the robot will wandering with collision avoidance To implant this function the program will set the target point just at 1m front of current position in tmrControl Almost same for Joystick control with Collision avoidance it also Is implemented by calling PeP drive function and always set the target point at the 1m front of current position There is simple map display at the interface You can change the mapratio and map center 0 0 position to display the robot position Mouse Point to Move If you checked LI you choose the target point by click the mouse on the map area and the program will display the point at the map and you can click Le button to drive the robot When you select P2P task Point to Point robot will drive to points one by one and stop at the last point you need to provide the path file if there are 3 points in your file robot should start from point 1 and access point 2 and arrive point 3 and stop Selected this option and then you can click Loo but
4. Dr Robot Inc All rights reserved 0 63 1 60 119 00 Camera Camera IP 192 166 0 199 Password Connected DisConnect Camera Control Snapshot AVI Rec Board Sensor Board Power 4 784 12 21 HTTP AW Full duplex Motor Power Human Sensor Motion Left 2023 Right 2016 Ultrasonic 2 0 79m Ultrasonic 3 0 64m IR Range 2 0 32m IR Range 5 0 73m IR Range 3 0 53m IR Range 6 O0 67m Current Feedback 0 314 0 294 Encoder Speed 750 750 HeatProtect False StuckState False False False Extend IO Input lO 1255 Output 10 o BES Enable Constellation www DrRobot com Throttle 75 vi AJ o Power State Voltage 12 69 12 74 0 00 Power Path Control _ PowerByBattery1 PowerByBattery ll Temperature 1794 1863 Battery t Using Battery ll DCIN Using Using C PowerByDCIN Charge Path Control C Charge Battery Charge Battery Charge Timer a fi Charge Current Control Full Current Half Current 14 Current Tickle Current Power Switch Control Channel Channel lll On OFF Channel Il on OFF on OFF Motion Control Set Drive Power Left Set Drive Speed Chassis Control Lett 200 26364 Right 6384 0 32767 16384 Stop Set Drive Distance Distance z Unit m CS Right 200 ogo Set Rotate Degree Degree 145 i Unit degree
5. again until you click Wandering Speed i angering spee J for adjust the speed for zoom in or zoom out map increase value should zoom out the map Map xo 465 Map vo 225 m i la P for set the location of centrol point Red dot in the picture Mouse Point to Move checked option use mouse to click on map a Target Point White dot should present on the map the robot should run to this target point Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 24 Tag Constellation amp SensorMap X DrRobot Sentinel 2 Demo Main Sensor Info Path Control Constellation amp SensorMap Constellation IP 192 166 0 205 Config Transponder ID Port Number 10002 WiFi DisConnect Transponder ID 2 Left Receive Distance Position Data Position x 0 m Position Y 1 00 m Right Receive Distance Position Dir 51 87 degree Set Transponder ID Constellation Info Socket Info 4 non blocking socket operation could not be completed immediately SensorMap el Constellation System Connection Constellation IF 192 168 0 205 2 Port Number 10002 WiFi Disconnect D Position Data Position x 0 75 ITI Position Y 1 00 m Position Dir 51 87 degree Constellation Info Socket Info non blocking socket operation could not be completed immediately Fi Connect Click to connect constellation system once successful connect to constellation the posi
6. 25 Valleywood Drive Unit 20 A Markham Ontario L3R 5L9 Canada fir Robot Tel 905 943 9572 Fax 905 943 9197 Support DrRobot com Dr Robot C Advance Sentinel Demo Program Version 1 0 0 June 2008 Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com Bye Copyright Statement This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr Robot All the software firmware hardware and product design accompanying with Dr Robot s product are solely owned and copyrighted by Dr Robot End users are authorized to use for personal research and educational use only Duplication distribution reverse engineering or commercial application of the Dr Robot or licensed software and hardware without the expressed written consent of Dr Robot is explicitly forbidden Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com Le Table of Contents l Prepare 2 User Interface Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com Ge 1 Prepare 2 To use Sentinel Demo programs you need download some support programs from Dr Robot and install or register them Here is the list 1 DRROBOTSentinelCONTROL OCX This ActiveX control component needs be copied to windows system3e folder and use regsvr32 to register it WiRobotGatewayforWiFi exe You can copy it to your working folder DrRobotSensorMapBuilder dil This dll file
7. Encoder Speed Current Feedback Heat Protect stuck State S00 0 354 False False S00 O 424 False False Right Motor 9256 Enable Motor Protect 5 List Encoder reading Checked Slee MORETeIEE option the motor should auotmatic stop once the motor overheat or got stuck Position Information Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 72 Position Information Constellation GPS 0 32 1 07 121 16 Enable Constellation List currently position value from encoder and from constellation system Checked _ Enable Constellation to receive constellation position information 6 Board Sensor Board Sensor Board Power 4 oy Motor Power 12 44 List the board and motor s power voltage 7 Human Sensor Human Sensor Motion Alarm Left 2012 2018 Right 2013 201 4 List left and right human motion sensor reading 8 Extend IO Extend Ia Input ICT 255 List Input IO value Set Click to set the Output IO parameter O for 00000000 and 255 for 11111111 For detail refer to X80 User manual 9 Motion control gt Set Drive Power Set Drive Power Lett D 32767 Drive robot via PWM value value must between O 32767 set 16384 to stop motor Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com ao 10 Motion control gt Set Drive Speed Set Drive Speed Lett 200 Right 200 CI Di Drive robo
8. provides some functions to build around sensor map for collision avoidance lt needs to be copied to windows system32 folder and use regsvr32 to register it DrRobotConstellation dll 2 For Sentinel you will need this file This dll file provides some functions to local the robot position with DrRobot Constellation system It needs to be copied to windows system3e folder and use regsvr3e to register it DrRobotPePSpeedDrive dll This dll file provides some functions to make robot move form one point to another point lt needs to be copied to windows system32 folder and use regsvr32 to register it Install DirectX9 OC for Joystick control in program VitaminCtrl dil 2 2 For 190 series Sentinel and Scout you need to install camera control component You can download VitaminDecoder exe to install it Note For DRROBOTSentinelCONTROL OCX you can refer to Dr Robot SDK API User Manual Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 4 2 User Interface There are tuo DrRobotSentinelControl ActiveX controls in this program and you need to run first one ws WiRobotGatewayforWiFi exe program and set Robot ID as power type in your robot IP and set Port as 10001 default and click Connect button And then run second WiRobotGatewayforWiFi exe Ga a program and set Robot ID as motion type in your robot IP and set Port as 10002 default EM WiRobot Gate
9. t via encoder speed 11 Motion Control gt Set Rotate Degree set Rotate Degree Degree 45 Unit degree Time 2000 Unit ms E a Set Degree to 45 robot should turn left 45 set 45 robot should turn right 45 set 720 robot should turn 2 circle le Motion Control gt Set Drive Distance Set Drive Distance Dist i cn CE TIME Unit me E 2 Drive robot to designed distance unit is meter 13 Motion Control gt Chassis Control Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 9 Chassis Control Click the arrow button to drive robot Forward Backward Turn Left Turn Right and Stop Adiust Speed Scroll bar to change the motion speed Note If you can not find the perfect speed for your robot you can modify this scroll bar s maximum value 14 Motion gt Direct Input Device Direct Input Device Enable Joystick Joystick Collision Avoidance Drive Throttle 75 Joystick Send Out wheel Power Y Lett Right i i 26203 6451 Check L_ Enable Joystick drive the robot via Joystick push the handheld stick forward the robot drives forward for faster speed just push bigger range m Click _ Joystick Collision Avoidance Drive to active Collision Avoidance function when you drive robot via Joystick 15 Motion gt Direct Input Device gt Joystick send out Wheel Power Jo
10. tion information should display Currently constellation info also display as above picture 22 Configure teansponder ID Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 5 Config Transponder ID Transponder ID Left Receive Distance 1 00 1 03 0 22 aon Right Receive Distance 1 00 0 05 2 50 Set Transponder ID 610 2 IIS tl Set ID Set ID m Click seo to config the transponder ID for detail information please 2 refer to Sentinel User manaul 23 SensorMap Senzsorbap Display currently obstacle status which detected by range sensors Ultrasonic amp IR Sensors Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com lt 16
11. ton to drive the robot When you select Charge Task You need to write a charge path for charge station Usually it has at least U points before the charge station The last point should be behind the charge station around 20 cm and the last second point should be at the 10cm front of charge station You can get the point information by Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 3 putting the robot at the desired points and writing down the position data in the charge path file There are more detection and output in tmrControl function to detect the chargestation input IO bit O is zero and set the output IO bit O as high to enable the charge station output the power And at the last three points you need to switch transponder to Chargestation transponder to improve the accuracy for estimate You can read the source code to get more details You can write you own code to plan the path and in big area auto switch the transponder and detect the battery power to implement a auto go to charge station function The last point When you select Patrol Task Point to Point robot will drive to points one by one and robot will not stop at the last point it will run to the first the point You need carefully to write the patrol path file if there are 3 points in your file robot should start from point l and access point 2 and point 3 and return to point l and i Stop run again and
12. way EF WiRobot Gateway HO EI power Robot D motion Robot ID Connection Setting Connection Setting di Senal Port Seral Port oa ic IP 192 168 203 IF 192 168 OU 203 Fort 10001 Fort 10002 e BT Address BT Address Connection Status Connection Status Network Status 2 Network Status WiFi Connection Connected IP Port 10001 WiFi Connection Connected IP Port 10002 Signal Robust PTT TTT Tad Signal Robust PTT TTT TP dy WiRobotGatewayforWiFi exe Port Number Power 10001 Management PC WiFi module l Motion Port Number Control 10002 WiFi module lIl Constellation Channel I1 System Port 10002 Camera IP Router 192 168 0 199 8081 192 168 0 200 2 Sentinel Controller Boards Connection Diagram Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com Di 9 DrRobotSentinel 2Demo sin Microsoft Visual Studio Solution oy Versioni Visual C Express 2008 Open the project and click F5 button to run the program Tag Main Sensor Info X DrRobot Sentinel 2 Demo Q 21 oe hp Range Sensor Ultrasonic 1 0 36m IR Range 1 IR Range 4 IR Range 7 0 81m 0 81m 0 81m Motor Sensor Encoder Position Left Motor 9769 Right Motor 32663 Enable Motor Protect Position Information Encoder GPS Constellation GPS 0 32 1 07 121 16 Dr Robat f C tend your imagination Copyright 2008
13. ystick Send Out Wheel Power Lett Right 26067 6242 Display currently PWM value for driving robot 16 Power State Copyright 2008 Dr Robot Inc All Rights Reserved www DrRobot com 10 Power State Voltage Temperature state Battery 12 71 19617 Using Battery Il 12 76 1936 Using DECIM 00g Using Display 2 battery packs currently state include voltage and temperature When you plug in the charger plug into robot the DCIN should display charger voltage 17 Power Path Control Power Path Control PowerByBattery PowerByBattery I PowerByDCiWN Checked PowerByBattery the robot only use battery Checked L PowerByBattery l the robot only use battery I _ PowerByDcly Checked the robot power by charger unit By default robot uses both battery packs 18 Charge Path Control Charge Path Control _ Charge BatteryI _ Charge Battery ll Charge Timer Checked _ Charge Battery to only charge battery l Checked L Charge Battery to only charge battery Il By default both battery packs should be chargered a Charge Timer Sto Click to stop charger task If the temperature of battery packs is high the charger task should automatic stop The charger process status bar should stop display the charger process status 19 Charge current Control Charge Current Control O Full Current O Half Current O 14 Current O Tickle Current Selected
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