Qwerk 3.0b ;-)

Let's Make Robots Robots
1

I have just finished the modification of the bot, I added a laser for use with cmucam.
I finally managed to operate the joystick with my small robot ....! ...  


http://f5pql.ath.cx/gallery2/main.php?g2_itemId=1542

This is the version beta, it is equipped with an arm, many sensors (4 GP2D12, 1 GP2D15, 1 SRF04) + light + temp. + compass i2C + Display module LCD03 + 2 experimental plates ( 1 for the power annexe(2 Luxeon LED 3w), CMUcam3 ,1 for 16F84 to convert signal to be compatible with Qwerk) and camera. I've add a basic stamp module and hub usb with key 2Go. Now, I added a laser for use with cmucam. 

http://f5pql.ath.cx/gallery2/main.php?g2_itemId=1545

For the moment the alimentation is 12V by alim and Accu 7.2V 4500mA. I create a balise to allow the load of Qwerk.

http://f5pql.ath.cx/gallery2/main.php?g2_itemId=1536

Now ! This is my new DiffDriveClient  
http://f5pql.ath.cx/gallery2/main.php?g2_itemId=1616

You have the possibility to test it at :
http://serveurperso.ath.cx/apps/diffdrive.jnlp

John

 

Navigate around via ultrasound, Navigate Around Obstacles, Remote Controlled via Internet

  • Control method: The robot is controlled with WiFi and might be autonomous in the future with GPS., Semi-Controlled
  • CPU: 200 MHz ARM9 RISC processor (onboard); remote PC, Querk
  • Operating system: Linux, java
  • Power source: 7.2 V 3300 mAh racing pack or 12Volts
  • Programming language: Java, C#, Visual Basic
  • Sensors / input devices: 4 GP2D12, 1 GP2D15, 1 SRF04, 1 CMP03
  • Target environment: Indoor or outdoor, Indoo
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/qwerk-3-0b
2

Wow!
You’ve accomplished so much more with the qwerk than I have! All I have hooked up at the moment are a couple of LEDs and an IR sensor. Would I be able to control those through your custom diffdrive client?

3

THat thing
Looks amazing.

4

Ready for the Moon.

Cool, this may be a “Yet another Mars Explorer”. The web cameras are for operator vision or You’re planning to make it with video processing?

Beautiful robot!

Filip

5

impressive!

impressive!

6

?
Hey, I was trying to connect. Do I connect directly using a peer? Or through a relay? What is the host name I need to enter. Incredible robot by the way. Very cool.

7

yes, first to the moon

The first camera (Logitech Communicate STX Camera) is used for browsing the Internet. The second(cmucam3) used for tracking objects, color etc… but this is under development.

For the time being the remote control is in direct connection with vpn. I am currently developing a simple interface to control anonymous with simple actions. I did not want to see the finished robot spare parts .

By against I am currently breaking my head to operate the joystick with the sources of the architecture of Terk. I get this error if someone has an idea?If someone has managed to control the Querk with the sources of TeRK (diffdrive) because my skills are limited …

Exception in thread "AWT-EventQueue-0" java.lang.UnsatisfiedLinkError: getNumDevces
at edu.cmu.ri.mrpl.TeRK.client.diffdrive.com.centralnexus.input.Joystick.<clinit>(Joystick.java:186)
at edu.cmu.ri.mrpl.TeRK.client.diffdrive.DiffDriveClient$10.actionPerformed(DiffDriveClient.java:2012)
at javax.swing.AbstractButton.fireActionPerformed(Unknown Source)
at javax.swing.AbstractButton$Handler.actionPerformed(Unknown Source)
at javax.swing.DefaultButtonModel.fireActionPerformed(Unknown Source)
at javax.swing.DefaultButtonModel.setPressed(Unknown Source)
at javax.swing.plaf.basic.BasicButtonListener.mouseReleased(Unknown Source)
at java.awt.Component.processMouseEvent(Unknown Source)
at javax.swing.JComponent.processMouseEvent(Unknown Source)
at java.awt.Component.processEvent(Unknown Source)
at java.awt.Container.processEvent(Unknown Source)
at java.awt.Component.dispatchEventImpl(Unknown Source)
at java.awt.Container.dispatchEventImpl(Unknown Source)
at java.awt.Component.dispatchEvent(Unknown Source)
at java.awt.LightweightDispatcher.retargetMouseEvent(Unknown Source)
at java.awt.LightweightDispatcher.processMouseEvent(Unknown Source)
at java.awt.LightweightDispatcher.dispatchEvent(Unknown Source)
at java.awt.Container.dispatchEventImpl(Unknown Source)
at java.awt.Window.dispatchEventImpl(Unknown Source)
at java.awt.Component.dispatchEvent(Unknown Source)
at java.awt.EventQueue.dispatchEvent(Unknown Source)
at java.awt.EventDispatchThread.pumpOneEventForHierarchy(Unknown Source)

at java.awt.EventDispatchThread.pumpEventsForHierarchy(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
at java.awt.EventDispatchThread.run(Unknown Source)

Thanks by advance if your are a solution …

8

Hi f5pql

You are missing a JNI .dll or .so. The "UnsatisfiedLinkError" is common for missing native code. Java does not inherently have access to hardware, so often the way around this is to use JNI which is compiled into a windows dynamically loaded library or a Linux shared object.

getNumDevces (sp?) - is probably trying to find the location and number of Joysticks

Typically this means you need a .dll or .so library in a reachable path.

For windows you can put it in the %SystemRoot%\system32 directory

In Linux often its /usr/lib

Hope this helps,

GroG

9

Hi GroG

 

No, the jjstick.dll is find by program. If I used the demo program no problem …But in the TeRK source it refused to works Snif !

 

10

The error is caused by not

The error is caused by not finding the dll.

This is the code which is throwing

static {
try {
new jjstick();
joyNotifier = new JoystickNotifier[getNumDevices()];
}
catch (UnsatisfiedLinkError e) {
e.fillInStackTrace();
throw e;
}
}

 

So if demo “works” and something else does not - then it’s how they access it or the dlls are not accessable, or the interface has changed.

is the demo working because the .dll is in the same directory versus in the system path (which i mentioned earlier) ?

 

Quick Fix:

if there is a .dll in the same directory as the demo - copy it to the system directory

11

Hmmm

Not sure then. It works for me.

And I use centralnexus too.

Possible Clue:

The class path looks a little goofy …

edu.cmu.ri.mrpl.TeRK.client.diffdrive.com.centralnexus.input.Joystick.<clinit>(Joystick.java:186)

shouldn’t it be just com.centralnexus.input.Joystick?

12

jjstick

Yes jjstick.dll is in the system directory, demo and my program used this dll.
I’m testing to put it in the same directory and I get the same error :
Exception in thread “AWT-EventQueue-0” java.lang.UnsatisfiedLinkError: edu.cmu.ri.mrpl.TeRK.client.diffdrive.Joystick.getNumDevices()I
at edu.cmu.ri.mrpl.TeRK.client.diffdrive.Joystick.<clinit>(DiffDriveClient.java:428)
at edu.cmu.ri.mrpl.TeRK.client.diffdrive.DiffDriveClient$10.actionPerformed(DiffDriveClient.java:2738)
13

so where is the kitchen sink
so where is the kitchen sink on that thing…I’m looking but don’t see it!!! :smiley:

14

** it’s path of my project :**

it’s path of my project : edu.cmu.ri.mrpl.TeRK.client.diffdrive.com.centralnexus.input.Joystick
I’ve included it in my project on Terk Source.
http://www.terk.ri.cmu.edu:8080/terk/apps/terk-source.zip
15

This is too much for me to

This is too much for me to read and understand!

Can I get to control this robot via the internet?

Can we put it up on the front page of LMR to be remoted by everyone?

16

No, I am currently
No, I am currently developing a simple interface to control anonymous with simple actions. I did not want to see the finished robot spare parts .

17

YEAH!
DUDE! THIS BOT IS THE MOST WHOOP-ASS EVA!!! I can’t imagine what kind of paycheck you have to buy all that though! :smiley: COOL!

18

GOOOOOOD WORK

Looks amazing…

Bravo !

19

… So… When can we have

… So… When can we have this on the frontpage of LMR?

20

Little News !

I added a laser for use with cmucam.
I finally managed to operate the joystick with my small robot …!