[Jaguar 4x4 Human Tracking] 3/22

https://www.hmc.edu/lair/E190Q/labs.html

 

About Jaguar

• Dr Robot사의 4 Wheel Mobile Robot
• 실내/ 실외 주행이 가능하며, 험지 주행또한 가능
• 155mm의 Vertical Step, 110mm의 계단을 오를 수 있고 45도 경사 극복 가능
• 최대 속도 14km/h, 80W의 24V Motor
• 573mm * 615mm * 265mm, 20.5kg, 88mm의 지상고
• 정격 적재 중량 30kg, 최대 적재 가능 중량 50kg
• 802.11B/G Wireless Connection
• SDK, Data Protocol, Sample Code 포함, Microsoft Robotics Studio, Visual Studio, NI LabVIEW, MATLAB, Java, ROS 지원

 

• Jaguar`s Datasheet

Jaguar 4x4 Wheel Quick Guide.pdf

0.50MB

 

 

- How to Connect

•  "Jaguar Control' Program을 실행시키는 Remote Host Controller PC는 아래의 2가지 방법으로 Jaguar에 연결할 수 있다
  1. Network Cable : Robot on-board AP/Router에 연결 (WAN Port에 연결 X)
  2. Wireless : Host Controller PC를 Robot상의 Wireless AP/Router에 연결하기 위해선 Host PC의 Wireless setting을 아래의 Default Wireless Configuration Setting 대로 설정해야 함
• 본 글에서는 위의 방식들 중 자율주행을 위한 Wireless Connection 방식을 사용할 예정
• Pre-Configured Wireless 802.11B/G Router는 아래의 Pre-Setting을 가짐
  • 802.11B/G는 Wifi 표준을 의미

Wireless Router Setting

• Divice Default Network Setting은 아래와 같다
  • Ethernet Module들은 Jaguar Platform에서 Serial - to Ethernet Mode로 configure되어있다

 

• Jaguar의 전원을 킨 후 'DriJaguar' Wifi에 접속 후 Password(drrobotdrrobot) 입력하여 Robot의 Router에 연결
• 이후 TCP Socket 연결을 통해 Motion Sensing Controller에 연결
  • Server IP : 192.168.0.60
  • Server Port : 10001
• TCP 통신 코드 (미완)

// This code sets up a TCP socket connection to the Motion sensing controller and checks for any errors during socket 
// creation, address setup, and connection establishment

#include <iostream>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <unistd.h>

int main() {
    // Create a TCP socket using the 'socket' function
    // Address family : AF_INET (IPv4)
    // Socket Type : SOCK_STREM (TCP)
    // Protocol : 0 (default protocol)
    // socket function returns a file descriptor which represents the socket
    int socket_client = socket(AF_INET, SOCK_STREAM, 0);    
    if (socket_client == -1) {
        std::cerr << "Failed to create socket." << std::endl;
        return 1;       // Display error message if the socket creation fails and exit the program
    }

    // Set the IP address and port number
    std::string server_ip = "192.168.0.60";
    int server_port = 10001;

    // Set up the server address
    // 'sockaddr_in' structure represents the server`s address
    sockaddr_in server_address{};   // Structure describing an Internet socket address
    server_address.sin_family = AF_INET;
    server_address.sin_port = htons(server_port);
    // 'inet_pton()' function converts the IP address from the string format to binary format
    // and stores it in 'server_address.sin_addr'
    // Detail : Convert from presentation format of an Internet number in buffer
    // starting at CP to the binary network format and store result for
    // interface type AF in buffer starting at BUF
    if (inet_pton(AF_INET, server_ip.c_str(), &(server_address.sin_addr)) <= 0) {
        std::cerr << "Invalid address or address not supported." << std::endl;
        return 1;
    }

    // Connect to the server using 'connect()' function
    // It takes the socket file descriptor(socket_client), server address structure, and size of the address sturcture as arguments
    if (connect(socket_client, reinterpret_cast<sockaddr*>(&server_address), sizeof(server_address)) < 0) {
        std::cerr << "Connection failed." << std::endl;
        return 1;
    }

    // Connection successful! You can now send and receive data from the Motion sensing controller.

    // Close the socket when you're done
    close(socket_client);

    return 0;
}

• 연결 완료 후 Motor를 Control하고 Encoder Value를 받아오는 code 작성 필요

 

• 이후 I2C Protocol을 통해 IMU Module에 연결
• IC2 통신 코드 (미완)

// Tihs code sets up the I2C communication, configures the IMU, reads the 
// desired sensor data, and displays it on the console.

#include <iostream>
#include <fcntl.h>
#include <unistd.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>

// Function to read a 16-bit signed integer from two consecutive registers
int16_t read16(int file, uint8_t address)
{
    uint8_t highByte, lowByte;
    highByte = lowByte = 0;

    // Read the high byte
    if (read(file, &highByte, sizeof(highByte)) != sizeof(highByte))
    {
        std::cerr << "Error reading high byte from I2C device" << std::endl;
        exit(1);
    }

    // Read the low byte
    if (read(file, &lowByte, sizeof(lowByte)) != sizeof(lowByte))
    {
        std::cerr << "Error reading low byte from I2C device" << std::endl;
        exit(1);
    }

    // Combine the high and low bytes into a 16-bit signed integer
    int16_t value = (highByte << 8) | lowByte;

    return value;
}

int main()
{
    // Open the I2C device file
    int file = open("/dev/i2c-1", O_RDWR);
    if (file < 0)
    {
        std::cerr << "Error opening I2C device" << std::endl;
        return 1;
    }

    // Set the slave address of the IMU (GY-85 BMP085)
    // The 'ioctl()' function perform the I/O control operation specified by REQUEST on FD(file).
    // One argument may follow; its presence and type depend on REQUEST.
    // Return value depends on REQUEST.  Usually -1 indicates error.
    if (ioctl(file, I2C_SLAVE, 0x77) < 0)
    {
        std::cerr << "Error setting I2C slave address" << std::endl;
        return 1;
    }

    // Configure the IMU for Acceleration, Gyroscope, and Magnetic Field measurements
    uint8_t configRegister = 0x20;  // Configuration register address
    uint8_t configValue = 0x0F;     // Configuration value for enabling Acceleration, Gyroscope, and Magnetic Field measurements
    if (write(file, &configRegister, sizeof(configRegister)) != sizeof(configRegister))
    {
        std::cerr << "Error writing to I2C device" << std::endl;
        return 1;
    }
    if (write(file, &configValue, sizeof(configValue)) != sizeof(configValue))
    {
        std::cerr << "Error writing to I2C device" << std::endl;
        return 1;
    }

    // Read Acceleration data from the IMU
    uint8_t accelRegister = 0x53;  // Register address for Acceleration data
    int16_t accelX = read16(file, accelRegister);
    int16_t accelY = read16(file, accelRegister + 2);
    int16_t accelZ = read16(file, accelRegister + 4);   

    // Read Gyroscope data from the IMU
    uint8_t gyroRegister = 0x69;  // Register address for Gyroscope data
    int16_t gyroX = read16(file, gyroRegister + 8);     
    int16_t gyroY = read16(file, gyroRegister + 10);
    int16_t gyroZ = read16(file, gyroRegister + 12);

    // Read Magnetic Field data from the IMU
    uint8_t magRegister = 0x1E;  // Register address for Magnetic Field data
    int16_t magX = read16(file, magRegister + 16);
    int16_t magY = read16(file, magRegister + 18);
    int16_t magZ = read16(file, magRegister + 20);

    // Display the Acceleration, Gyroscope, and Magnetic Field data
    std::cout << "Acceleration (X/Y/Z): " << accelX << " / " << accelY << " / " << accelZ << std::endl;
    std::cout << "Gyroscope (X/Y/Z): " << gyroX << " / " << gyroY << " / " << gyroZ << std::endl;
    std::cout << "Magnetic Field (X/Y/Z): " << magX << " / " << magY << " / " << magZ << std::endl;

    // Close the I2C device file
    close(file);

    return 0;
}

 

 

- About IMU Module

Robot`s IMU

https://ko.aliexpress.com/item/1005005237583197.html?pdp_npi=2%40dis%21KRW%21%E2%82%A99%2C531%21%E2%82%A96%2C667%21%21%21%21%21%402141005d16884894713333455efbda%2112000032317829508%21btf&_t=pvid%3Aa58c97f9-4c33-4df1-b714-5f6ba74b7191&afTraceInfo=1005005237583197__pc__pcBridgePPC__xxxxxx__1688489471&spm=a2g0o.ppclist.product.mainProduct&gatewayAdapt=glo2kor 

https://ko.aliexpress.com/item/1005005237583197.html?_t=pvid%3Aa58c97f9-4c33-4df1-b714-5f6ba74b7191&afTraceInfo=1005005237583197__pc__pcBridgePPC__xxxxxx__1688489471&gatewayAdapt=glo2kor&pdp_npi=2%40dis%21KRW%21%E2%82%A99%2C531%21%E2%82%A96%2C667%21%21%21%21%21%402141005d16884894713333455efbda%2112000032317829508%21btf&spm=a2g0o.ppclist.product.mainProduct

• 로봇 내의 IMU Module (GY-85 BMP085, 9 DOF)
  • ITG3205(Gyroscope) + ADXL345(Accelerometer) + HMC5883L(Magnetometry)
• 각 Sensor의 Datasheet

adxl345(Accel)Datasheet.pdf

1.42MB

HMC5883L(Compass)Datasheet.pdf

0.70MB

itg3205(Gyro)Datasheet.pdf

1.10MB

 

• 각 Sensor의 Output Registers

ITG 3205`s Sensor Output Registers

 

ADXL345`s Sensor Output Registers

 

HMC5883L`s Sensor Output Registers

 

 

• Example Source

https://github.com/madc/GY-85

GitHub - madc/GY-85: Arduino implementation for GY-85 (ADXL345 accelerometer, ITG3200 gyroscope and HMC5883L magnetometer)

• https://medium.com/jungletronics/gy-85-a-quick-datasheet-study-79019bb36fbf

GY-85 — A quick datasheet study

 

 

 

 

 

 

 

 

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참고 자료 :

1) 통신 관련 내용

https://youngseong.tistory.com/181

 

https://youngseong.tistory.com/180