1. A Presentation by: Frank Kuo Nkiruka (Nikky) Chuka-Obah Keith Mayoral 07/28/2006 NESL - Ragobot Wars Click to edit Master title style

2. Test Cart - completed Complete wiring of the test cart Completed testing on desktop Complete communication with LabVIEW (usb, RS-232) Installed onto test cart computer Tested LabVIEW program with common emitter amplifier

3. Embedded C Programming Familiarizing with Embedded Programming (1 week) ATMEL STK500 Test Board ATMEGA128 Microcontroller (8-bit controller) Program in C, convert to.hex, load program into controller Basic assignments: –Read from switches, blink LEDs, use CPU clock to blink LED Chunk of code from program //Turning lights on with switches DDRB=0xff; //all bits of portB are output DDRA=0x00; //all bits of portA are input while(1){ PORTB=PINA; //read portA and write to portB, portA are switches } // Toggle lights with switch DDRB=0x01;// LSB as output EICRA=0x03; EICRB=0x00; EIMSK=0x01;// external interrupt mask register set to INT0 EIFR=0x01; sei();// enable global interrupts - SREG=0x80; while(1);// processing to wait for interrupt

4. Problems: First fried board, figuring out syntax, re-installing AVR components, cygwin Goal: learn embedded C programming to program LCD on ragobot Embedded C Programming

5. Review Design User connects to ragoworld through a java applet. Applet sends data to java application to parse Application sends valid requests to SOSserver through a TCP socket connection SOSserv radios the commands to Ragobots in the Ragoworld and reports back to application and user.

6. Review Design User connects to ragoworld through a java applet. Applet sends data to java application to parse Application sends valid requests to SOSserver through a TCP socket connection SOSserv radios the commands to Ragobots in the Ragoworld and reports back to application and user.

7. What’s been done… Communication between Applet and Server In Java, –Both sides use PrintWriter and BufferedReader streams to send strings containing data/commands. –Data/commands are received in separate threads and parsed to allow for unexpected packets.

8. What’s been done… SOS –Cygwin (a Linux-like env. for Windows) –Necessary to run SOSserv program on the SOS server mote –Still need to find out how Cygwin detects USB port… Patrick has already coded some java to send ragobots commands… Just created a java class to run console commands to hopefully run Cygwin and SOSserv from the java application SOS server

9. Problems left to fix… Bugs always pop up when merging GUI code with communication code Formatting applet Getting the applet to run on our test web server without getting security/null pointer exceptions. Figuring how to make SOSserv work in a non-linux environment (/dev/USB01) Non-fatal annoying bugs

10. Relevance to CENS Remote control functionality-Just one possible application –Control robot in the field from the comfort of your own home! –Use on-board sensors to sense things un-sensed ever before in the sensible world! –Paired with Ragodoc it can recharge and head out without having to come home for a battery change

11. Any Questions???