RoboRealm Forum

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Tue, 30 Nov 1999 00:11:00 EST

Here is yet another example of successful navigation on the robot with router DIR-320 that was used as the gate for connection of the web-camera and virtual COM port channel (for servo/motor controller) to desktop computer by Wi-Fi connection:
http://www.youtube.com/watch?v=cBndD2RpWko

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Tue, 30 Nov 1999 00:11:00 EST

It is clear that we need to adjust the AVM Navigator control signals with your hardware.
So, the first step that I see is search of range of your "Servo pin 3", "Analog Output pin 5", "Analog Output pin 6" parameters for your robot motor/servo controlling.

You said that for analog out pins 5 and 6, when value is 0, it indicates 0 duty cycle hence the motors are off and 128 is 50% duty cycle and 255 is full speed.

So, now we know that control range of running motors on your robot is:
0 -> motor off
255 -> motor full power forwards

Now you should find out value for "motor full power backwards" by manually (it may be - 255) and then you will be able to adjust the NV_L_MOTOR and NV_R_MOTOR variables that have range from -100 to 100 for motion control ("-100 " - full power backwards, "100" - full power forwards, "0" - motor off) to pins 5 and 6 range with helping of "Scale Variable" module:
http://www.roborealm.com/help/Scale_Variable.php

You should also do the same operation with turret servo. Just find out control range for "Servo pin 3" and then scale variable NV_TURRET_BALANCE to this range.

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Tue, 30 Nov 1999 00:11:00 EST

Hello EDV

I was able to connect my robot using the program that you have suggested to me earlier. But i was not able to control my turret. Once i press on delete or page down buttons, the servo starts to turn without stopping.
These are the values which i have tested for my servo motor: Stop position when the values is 1540, >1540- rotates in anticlockwise and <1540 rotates in clockwise position. So how can i control using AVM now?

And for analog out pins 5 and 6, when value is 0, it indicates 0 duty cycle hence the motors are off and 128 is 50% duty cycle and 255 is full speed. So with this I am not able to reverse my robot.

Although the above functions are not working, i was able to navigate using gate mode in forward, left and right direction and also using navigation by map.

If you could give some suggestions on above, then i will be able to achieve better control.

Great work by the way.

Rgds
Raj

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Tue, 30 Nov 1999 00:11:00 EST

Ron,

When you download RR the AVM plugin IS included. You will NOT receive another download link. If you look in

C:\\Program Files\\RoboRealm\\Plugins

you should see Navigator.dll which IS the AVM module. This can be accessed within RoboRealm by from Contents->Plugins->Navigator OR from the Search tab and typing in Navigator (note that the word AVM is not part of the actual module, it is known as Navigator within RoboRealm).

If you do NOT see this please let me know as there has probably been an error in your install.

STeven.

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Tue, 30 Nov 1999 00:11:00 EST

Hi, i ve registered for demo the roborealm and the link provided only the demo roborealm . Does the avm navigator v7 included

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Tue, 30 Nov 1999 00:11:00 EST

The AVM Navigator is an additional module that is distributed along with RoboRealm and you can download it from your account link that will be available after registration:
http://www.roborealm.com/registration/index.php

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Tue, 30 Nov 1999 00:11:00 EST

Hi edv where can i download demo version 7.02 avm navigator, i ve veen looking but i could only find this.

AVM Ver-0.5
Download Ver Date Size Download it!
AVM_SDK_v0-5.zip - Associative Video memory SDK with comparing of new and previous version (C++, VC6).

http://edv-detail.narod.ru/AVM_main.html

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Tue, 30 Nov 1999 00:11:00 EST

Mel,

We could go further with your "Roomba robot" navigation some day when it will be convenient for you :)

>> I would like to know when you have the autonomous navigation done without training it.

It is research and it required lot of time and new ideas for developing. I hope that I will get it done anyway.

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Tue, 30 Nov 1999 00:11:00 EST

If it works not properly then you should try to find out range of your "Servo pin 3", "Analog Output pin 5", "Analog Output pin 6" parameters for your robot motor/servo controlling.

For example:
"Analog Output pin 5" = 0 - left motor full power forwards
"Analog Output pin 5" = 128 - left motor motor off
"Analog Output pin 5" = 255 - left motor full power backwards

And when we will have this information then we will be able to make special VBScript program for your robot control.

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Tue, 30 Nov 1999 00:11:00 EST

Raj,

What if you try to use NV_L_MOTOR_128, NV_R_MOTOR_128, NV_TURRET_128 variables instead your VBScript program for robot control?

See robo file:

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Tue, 30 Nov 1999 00:11:00 EST

Hey Demitry,

Glad to see it is working out for these guys. I am still going to try, but I am giving myself a break from it. I would like to know when you have the autonomous navigation done without training it. I know that this is going to be hard to do. But, if anyone can do it, you can.
Happy Holidays, my friend.

Mel

:-)

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Tue, 30 Nov 1999 00:11:00 EST

Hi EDV

I have prepared a RR file to connect to my arduino. Is this the way to connect the robot to AVM navigator? When i start the AVM, my turret keeps on rotating continuously. I don't know how to set up the values so that it rotates left and then right when localizing. I am using continuous rotation servo from parallax.
http://www.parallax.com/StoreSearchResults/tabid/768/txtSearch/servo/List/0/SortField/4/ProductID/102/Default.aspx

Could you please tell me how to improve so that i can connect my robot to AVM.
I will be controlling DC motors for robot movement through new analog interface of sparkfun_arduino from RR.

No Title

Tue, 30 Nov 1999 00:11:00 EST

* Connect your robot to AVM Navigator

Just use the variables that described below for connection of your robot
to AVM Navigator:

Use variable NV_TURRET_BALANCE for camera turning:

NV_TURRET_BALANCE - indicates the turn degree amount.
This value range from -100 to 100 with forward being zero.

Use for motor control NV_L_MOTOR and NV_R_MOTOR variables that have range
from -100 to 100 for motion control ("-100 " - full power backwards,
"100" - full power forwards, "0" - motor off).

You also can used alternative control variables
(motors range from 0 to 255 with 128 being neutral):

NV_L_MOTOR_128, NV_R_MOTOR_128 - motors control
NV_TURRET_128 - control of camera turning
NV_TURRET_INV_128 - inversed control of camera turning

* How to get start

1. Open RoboRealm dialog window.

2. Make sure that "Camera" button is pressed in RoboRealm dialog window
   and also you should check out the camera resolution (it must be 320x240 pixels).

3. Call the dialog window of AVM Navigator (click on it at video-processing pipeline)
   and then switch to "Nova gate mode". Now you can control your robot by arrow keys
   and also you can turn robot camera by "Delete" and "Page Down" keys ("End" key will
   set the camera in front position). If camera was turned you have to press "End"
   for alignment before continuing of robot moving.

   ...

Find out more: http://www.roborealm.com/help/AVM_Navigator/avm_q3mod_help.html

Also you can try to train with "AVM Quake 3 mod" for acquaintance with "Marker mode"
and "Navigation by map" modes: http://www.roborealm.com/help/AVM_Navigator/Setup_avm_q3mod.exe

You should use arrow keys for robot control in "Marker mode"
(it is important for route recording).

But you can also control your robot through AVM Navigator from external application
with helping of control variables:
NV_FIRE, NV_LEFT, NV_RIGHT, NV_FORWARD, NV_BACKWARDS, NV_TURRET_LEFT, NV_TURRET_RIGHT.

The double purpose of control variables (in/out functions) is already implemented since
as AVM Navigator v0.7.2.3 was released. And now variables (NV_FIRE, NV_LEFT, NV_RIGHT,
NV_FORWARD, NV_BACKWARDS, NV_TURRET_LEFT, NV_TURRET_RIGHT) indicate control status
(if use it after AVM Navigator in pipeline) as in previous versions but also it has
secondary function as input of control signals from external application.

Now users will be able to set value of these variables to -1 (before AVM Navigator in pipeline)
for activation of control action from scripts or other modules or external application
(through API and "control translator" script).

Find out more: http://www.roborealm.com/forum/index.php?thread_id=4253#

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Tue, 30 Nov 1999 00:11:00 EST

Hi
Its a very simple query for me.
Initially when starting with AVM, in order to move our robot forward , backward, left or right, do we need to know the key values for left right, up n down arrow key so that we can pass this values to our Micro controllers in order to control the Dc motors?

Or is there any other way to do this???Please advise.

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Tue, 30 Nov 1999 00:11:00 EST

Yet another video from user whose robot has extremely high turn speed but AVM Navigator module could control robot navigation even in this bad condition!
http://www.youtube.com/watch?v=G7SB_jKAcyE

His robot video:
http://www.youtube.com/watch?v=FJCrLz08DaQ

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Tue, 30 Nov 1999 00:11:00 EST

The RoboRealm application with AVM Navigator module was running only on local NetTop computer that was set on my robot:
http://www.youtube.com/watch?v=0jXW83az20E
http://www.youtube.com/watch?v=wj-FKhdaU5A

Further I just connected with "Radmin v3.3 " from my main PC to NetTop of my robot (Wi-Fi) and was working with RoboRealm by remote control.
http://www.radmin.com/

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Tue, 30 Nov 1999 00:11:00 EST

hi
I just have a small query about how have you established communication from roborealm running on robot platform to roborealm running on your host PC.

Are you using wifi or sum thing for this....

Please advice.

AVM Navigator v0.7.3 is released

Tue, 30 Nov 1999 00:11:00 EST

Navigator package is updated now and you can download next modification of AVM Navigator v0.7.3 from your account link.

Changes:
- The new "Back to checkpoint" algorithm was added in "Navigation by map" mode.
    http://www.youtube.com/watch?v=wj-FKhdaU5A

    First in video the robot has received command: "go to the checkpoint" and when
    robot arrived to the checkpoint then I brought robot back (several times) in different
    position of learned route. When robot noticed the changes then it indicated that
    robot was displaced because any commands were not given by robot to his motors
    however changes were seen in the input image.

    Then robot started looking around and localized his current position.
    Further the robot just calculated path from current position to the checkpoint and
    went there (and so forth).

- Also new "Watching mode" was developed.
   And robot can move to direction where motion was noticed in this mode.
   http://www.youtube.com/watch?v=c1aAcOS6cAg

Also common usability was improved.

By the way I received new video from user that succeed in "Navigation by map":
http://www.youtube.com/watch?v=214MwcHMsTQ

His robot video and photo:
http://www.youtube.com/watch?v=S7QRDSfQRps
http://roboforum.ru/download/file.php?id=22484&mode=view
http://roboforum.ru/download/file.php?id=22280&mode=view
http://roboforum.ru/download/file.php?id=22281&mode=view

I believe that you also will have success with visual navigation by AVM Navigator module ;-)