Just moozing

Before you can check your notes, you must make them…

Surveyor robot

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This is yet another “look what we found in a drawer” post. This time it is a modded Surveyor SRV-1 robot.

The hardware

As seen on the picture, it is a mobile wireless robot. It has a camera, distance sensor and probably other interesting stuff on the inside. Wireless communication is through IEEE 802.15.4. Quick googling confused me on the difference between 802.15.4 and Zigbee 🙂

The robot itself does not look much like the images on the Surveyor homepage. It seems modded in all sorts of ways. On the inside it has a Blackfin chip, and you can download and compile the source code yourself. This page holds a lot of info about firmware, software and schematics. It is an open source project.

Looking at the USB device, it is basically a Maxstream XBee PRO OEM card connected to some kind of USB converter. Apparently, Maxstream is no more and Digi continues to manufacture the devices. I found a data sheet with some interesting values, like line-of-sight range of 1 mile. That has potential.

Connecting the devices:


<snip>
Nov 16 22:35:26 monlennart kernel: [75650.711624] usb 1-1: new full-speed USB device number 29 using xhci_hcd
Nov 16 22:35:26 monlennart kernel: [75650.729528] usb 1-1: New USB device found, idVendor=10c4, idProduct=ea60
Nov 16 22:35:26 monlennart kernel: [75650.729535] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
Nov 16 22:35:26 monlennart kernel: [75650.729539] usb 1-1: Product: CP2102 USB to UART Bridge Controller
Nov 16 22:35:26 monlennart kernel: [75650.729542] usb 1-1: Manufacturer: Silicon Labs
Nov 16 22:35:26 monlennart kernel: [75650.729545] usb 1-1: SerialNumber: 0001
Nov 16 22:35:26 monlennart kernel: [75650.730358] cp210x 1-1:1.0: cp210x converter detected
Nov 16 22:35:26 monlennart kernel: [75650.895294] usb 1-1: reset full-speed USB device number 29 using xhci_hcd
Nov 16 22:35:26 monlennart kernel: [75650.911818] xhci_hcd 0000:00:14.0: xHCI xhci_drop_endpoint called with disabled ep ffff880030189780
Nov 16 22:35:26 monlennart kernel: [75650.911824] xhci_hcd 0000:00:14.0: xHCI xhci_drop_endpoint called with disabled ep ffff880030189740
Nov 16 22:35:26 monlennart kernel: [75650.912143] usb 1-1: cp210x converter now attached to ttyUSB0
Nov 16 22:35:26 monlennart mtp-probe: checking bus 1, device 29: "/sys/devices/pci0000:00/0000:00:14.0/usb1/1-1"
Nov 16 22:35:26 monlennart mtp-probe: bus: 1, device: 29 was not an MTP device

The device gets autodetected as a USB serial device. And it is not an MTP music device.

A qualified guess

$ gtkterm --port /dev/ttyUSB0 --speed 115200

And turning on the robot, I get

 SRV-1 firmware compiled Sep 27 2006 - 11:46:26

Reading the docs about the protocol tell me to use the numeric keys to control the movement.

SRV-1 firmware compiled Sep 27 2006 - 11:46:26#8#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#7#6#6#6#6#6#6#6#6#6#6#6#5#8#5#8#5#8#5#2#5#8#0#0#0#0#0#0#5

and the robot starts moving. ‘8’ means forward, ‘7’ is going slightly to the left, ‘5’ is stop, and so on.

Software

On the surveyor webpage they have some software for download. I checked the python module.

wget http://www.surveyor.com/srvdownload/pySRV1Console-022807.zip
unzip pySRV1Console-022807.zip
cd pySRV1Console-022807
python pySRV1Console.py -com /dev/ttyUSB0

and connect the browser to http://localhost:8888/view.html.

There is an issue with the java applet it want to run (actually it is a chrome bug), but the page ought to be update to HTML5 and use the video tag. The software works with some quirk, and it is in need of an update.

The pySRV1Console.py script would be a good starting point for a python GUI program.

 

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Written by moozing

November 17, 2012 at 09:00

Posted in Tech

Tagged with , , ,

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