Re: Help with linking OI and RC over Internet....
 

That would be very nice. But how did the laptop connect to the RC? Or was the laptop acting as the RC?

The original plan was to have the Operator Interface connected to the first GW21W, and have that GW connect to the other GW via the schools WiFi. This last GW would then send the OI data to the RC. But appentally, the OI and RC use non-spec communications...

When you say the serial port, do you mean the Program port, or the TTL pin-thingies?

Re: Help with linking OI and RC over Internet....
 

This isn't the way it works. The RC goes into disabled mode if it doesn't receive a valid packet within some (short) timeframe. Garbage data will not keep the connection alive. There's a checksum on each packet that must pass, as well as receiving the correct team number and probably a few other things. These checks are all still in place even when using the tether. Well, technically I guess the team number check is removed since it will just program whatever team number it finds, but the checksum must still pass.

{edit}OK, I realize that this setup isn't quite what I was thinking. I thought you were just trying to remotely locate the OI but still use the OI for controls. How would someone remotely over the Internet actually control the robot? Are you thinking of interfacing a computer to the OI to do it?

I think the suggestion of going straight to the program port is the best. And, I don't think you even need to put the OI on the robot - if you set it to team number 0 it will run in autonomous mode without the OI (I believe). Then, just put all your code to read in commands from the serial port in the autonomous loop.

This would be an interesting experiment to try in a safe environment, but again I don't think you should use this in the halls. Even with a webcam on there, think of the problems: if the webcam stream stops, whoever is driving remotely may not realize what the robot is actually doing. Additionally, webcam streaming over the Internet usually involves several seconds of buffering. This means that what you see on the screen will be several seconds old, so by the time you see someone in the way of the robot and move to avoid them it may already be too late and you've already hit them. I can't imagine the school would ever allow you to do this anyway due to the liability. Are you going to have eveyone in school wear safety glasses? ;) {/edit}

Re: Help with linking OI and RC over Internet....
 

The OI sends data through the dashboard port even when its not connected to the robot. You could set the OI to output the OI values, and connect your WiFi serial things to the dashboard of the OI and the program port of the RC. You would get all the joystick and switch information through this connection. You could also write software to drive the robot from a computer.

You would still need to write the software to interpret the dashboard data, but that is well documented, and would be relatively easy.

I did not check to see if the 2006 OI will output the values, but while I was typing this I tested a 2005 OI and it worked the way I expected.

The dashboard specs are in the install folder of IFI Dahsboard or aviable from IFI's website.

Hope this helps

Re: Help with linking OI and RC over Internet....
 

I was refering to the 4 pin connection that the camera uses. I'm sorry I can't provide you with more detail, but when I first considered this a couple months ago it was because I stumbled across an adapter or wifi web device that I thought would work for just this application. Unfortunately I've been spending more time trying to raise money so we can compete this year and not enough playing with robots.

Re: Help with linking OI and RC over Internet....
 

You could use either, but I was referring to the program port.

Re: Help with linking OI and RC over Internet....
 

Note that the OI requires some kind of connection before sending data, even if it's just a radio w/o a robot. I think of the dashboard as the raw data sent or recieved; if the OI isn't trying to send data, you won't get it on the dashboard.

What this means is that an OI without a tether or a radio won't send data. (At least the 2005 won't.)

Re: Help with linking OI and RC over Internet....
 

I tested it and got good values from an OI with a radio, but no robot near by. I have not tried it without a radio, but what I said above will work as long as you have a radio connected to the OI.

Re: Help with linking OI and RC over Internet....
 

Forgive my ignorance, but how on earth would you do that? Does the code even have alias' for the program port?

Re: Help with linking OI and RC over Internet....
 

If memory serves (and it may not, it's been a while since I touched one of these) the standard C functions printf() and scanf() are tied to that port, allowing scanf() to receive data from it and printf() to output. The only problem I can see with that is scanf() may be blocking and thus might break the timing of the code. Kevins Bells and Whistles 2006 camera code used the serial port for receiving single byte commands to control the camera, maybe look in to how he did it? I think it involved accessing the serial received buffer and plucking the data right out of there, which is how I typically use serial ports on 8-bit micros.

If this reply made no sense to you, sorry, I'm just getting up (Colleges are full of strange germs that tend to crush freshman). If you'd like to talk more one on one I can try to elaborate on it for you.

Re: Help with linking OI and RC over Internet....
 

You should download Kevin's serial port code(this is what he used for the camera) from www.kevin.org/frc. If you search CD you can find alot of help for this serial port driver. To use the code you follow the instructions in the readme to add the code to you r project, and configure the speed and other setting for each port.

Most of what you would use in your code is explained in the readme or in this thread http://www.chiefdelphi.com/forums/sh...ad.php?t=31931.

If you have any questions PM or e-mail me haskinseric@hotmail.com. :)

Re: Help with linking OI and RC over Internet....
 

This is not an ideal solution, but you could get something working fairly quickly using this dashboard framework: http://www.chiefdelphi.com/media/papers/1765

That application includes a UDP packet relay that will forward the incoming data packets from the serial port to another instance of the dashboard running on a separate PC. It allows you to share the data stream over a network. You would have to write a dashboard view control for the laptop on the robot to forward the command to the RC, but since you can define the protocol you can keep it simple.

The system would involve two PCs, the OI, RC, and a wireless network:
1) Laptop1 connected to the OI running the dashboard app configured to forward packets to laptop2.

2) Laptop2 connected to the RC via the programming port running the dashboard app with your custom view to package and send commands to the RC. Laptop2 is set up as UDP listener.

3) Custom code running on the RC to listen for commands on the serial port and update the motor outputs. Robot needs a robust set of collision sensors to disable the robot when it hits something. Also requires a watchdog timer to disable motors if data is not received within a threshold time limit.

4) MSN Messenger running on both laptops with an active videoconference open.

Re: Help with linking OI and RC over Internet....
 

Why would you have a computer on the robot? The dashboard data is not that complicated. If you had the dashboard data being feed through the wifi serial ports, and a WiFi camera on the robot you wouldn't have a problem. There is no reason to risk your laptop on a robot.

Re: Help with linking OI and RC over Internet....
 

I guess I should have qualified the comments. If you do NOT have $400 worth of wifi serial adapters, but do have an old laptop, if would be fairly straight-forward to prototype something similar. For the price of one wifi webcam you could get two USB webcams, one for the robot and one for the operator. If you use MSN Messenger and open a videoconference to the robot you get bidirectional video and audio, useful for telling people to get back to class. Plus, if they can see you they might be more willing to cooperate.

Re: Help with linking OI and RC over Internet....
 

Several years ago I wrote a VB application to control the robovation (mini RC) controller from a PC using a serial cable on the program port. I don't know if the latency of the wifi adapters would affect it, but you can give it a shot. The code should port to the full size robot controller, but if you have a mini-rc you can use it without making any modifications. When you run setup it will add help.txt to the installation folder with basic information about how to get it working. The joysticks don't automatically re-center when you release them, but right-clicking will do it.

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