Move

   

View


Copy

Copy commands to program window

Camera

Action

Camera Lights
Bottom Lights
 
 
 
 
Configuration

Please select the mode you want the routerbot to work in. Access point mode turns it into a regular wireless access point, just like your router is. In this mode you can use any other wi-fi-enabled computer to connect to the routerbot. This mode works best when you want to use the routerbot away from your home wireless network.
The other mode is Standalone. It configures the routerbot so it can connect to your home network and work as a part of it. This mode is the best for indoor use, for instance if your want to use the routerbot as a home guardian robot.

Finally, you can disable wireless interface completely. This makes the routerbot accessible only via ethernet cable plugged to one of LAN ports. The only use for this mode I see is debugging. In the future I'm going to make this mode more useful.

In this version only WEP is supported, so you have to provide your Wireless network SSID and the WEP key. The routerbot also needs DHCP to be configured on server side. This is not a hardware/OS limitation, just the lack of my own time. You can always tweak /etc/config/network file to fit your needs better, but remember that this interface is going to rewrite that file once you hit "Configure" button.

If you're using Standalone more please make sure have "routerbotcam" entry in your DNS server config. This name should point to the IP address of the web camera you're using. Also the standalone mode is not tested yet. Please let me know if it is not working.

Operating mode
SSID
WEP key
The following commands will turn off or reboot the routerbot.
Turn the routerbot off
Reboot the routerbot

Debug

Intro

The web interface in v2.0 has two main menu items: roam and help. The roam screen allows you to control the routerbot camera and servos, so you can virtually travel and see what's happening around. The help screen provides basic information about the routerbot.

The routerbot also can be controlled from telnet/ssh session. You can login to the routerbot and issue one of the following commands:

		cmd() - executes a command in terms of SSC-32 servo controller
		get_distance()  - returnes the distance to the object the camera is looking at
		init_robot()  - initializes robot
		set_camera_speed()  - sets the camera speed
		set_engine_speed()  - sets the engine speed
		look()  - changes the camera position (up|down|ahead|back|forward|left|right|higher|lower|lefer|righter)
		lookat()  - positions the camera absolutely (lookat  )
		halt_camera()  - stops the camera movement
		halt_engine()  - stops the engine movement
		halt()  - stops all robot movement at once
		reset_camera()  - positions the camera to look forward
		fast_reset_camera()  - quickly moves the camera to default position
		stop()  - stops roubot movement (not camera)
		go()  - moves robot forward or backward (go forward|backward )
		turn()  - makes the robot turn (turn left90|right90|left|right|left_cont|right_cont|left180|right180|around)
		say()  - make robot "say" something (say yes|no)
		on()  - sets the line high. For instance "on 15" can turn on lights connected to PWM 15  
		off()  - sets the line low. For instance "off 15" can turn off lights connected to PWM 15  
		camera_lights_on()  - turns on the camera headlights
		camera_lights_off()  - turns off the camera headlights
		bottom_lights_on()  - turns on the bottom lights
		bottom_lights_off()  - turns off the bottom lights
		rangefinder_on()  - turns on the range finder
		rangefinder_off()  - turns off the rangefinder
		poweroff_robot()  - turns off the routerbot
		reboot_robot()  - reboots the routerbot
		emo()  - make robot express an emotion (emo shy|excited)
	

Customization

This routerbot is not an end-user solution but rather a hint to what you can do with WRT54G-series routers (and any other powerful enough hackable routers). So even if you followed assembly instructions exactly you still need to customize something. In particular:

If you have further questions please refer to http://andrey.mikhalchuk.com/category/robots for more information.