Robotics Tutorial Controlling a Robot with MSRS

Robotics TutorialRobotics Tutorial

Controlling a Robot with MSRSControlling a Robot with MSRS

http://msdn.microsoft.com/en-us/library/cc998559.aspx

Robotics TutorialRobotics Tutorial

David LeeDavid LeeSr. Software Development EngineerSr. Software Development EngineerMicrosoft CorporationMicrosoft Corporation

Controlling a Robot with Microsoft Robotics StudioControlling a Robot with Microsoft Robotics Studio

OverviewOverviewThe IdeaThe Idea

Write an MSRS Application which Write an MSRS Application which will:will:

Drive a LEGO NXT TribotDrive a LEGO NXT TribotOpen a Direction DialogOpen a Direction Dialog

Wait for Button PressWait for Button Press

Send Commands to the RobotSend Commands to the Robot

Stop when the button is releasedStop when the button is released

DialogDrive Application

OverviewOverviewThe IdeaThe Idea

Write an MSRS Application which Write an MSRS Application which will:will:

Drive a LEGO NXT TribotDrive a LEGO NXT TribotOpen a Direction DialogOpen a Direction Dialog

Wait for Button PressWait for Button Press

Send Commands to the RobotSend Commands to the Robot

Stop when the button is releasedStop when the button is released

Direction Direction DialogDialog

State

DialogDialogDriveDrive

State

Generic Generic Differential Differential

DriveDrive State

Robotics Tutorial Robotics Tutorial PrerequisitesPrerequisites

A basic understanding of MSRSA basic understanding of MSRS

To create this demo yourselfTo create this demo yourselfVisual Studio Pro or ExpressVisual Studio Pro or Express

A basic knowledge of CSharpA basic knowledge of CSharp

A LEGO NXT which has already been A LEGO NXT which has already been paired with your Bluetooth adapterpaired with your Bluetooth adapter

OverviewOverviewDirection DialogDirection Dialog

MSRS Sample ServiceMSRS Sample Service

Five ButtonsFive Buttons

Two NotificationsTwo NotificationsButtonPressButtonPress

ButtonReleaseButtonRelease

Name: Name: LeftLeft

RightRightForwardsForwards

BackwardBackwardss

StopStop


State

OverviewOverviewGeneric Differential DriveGeneric Differential Drive

Very simple drive systemVery simple drive systemControlled by applying power Controlled by applying power individually to the left and right motorsindividually to the left and right motors

SetDrivePowerSetDrivePower Action ActionLeftWheelPower, RightWheelPower:LeftWheelPower, RightWheelPower:values between -1.0 and 1.0 (double)values between -1.0 and 1.0 (double)


DriveDrive State

OverviewOverviewGeneric Differential DriveGeneric Differential Drive

Generic ContractGeneric ContractIntended to be implemented by multiple Intended to be implemented by multiple servicesservicesDescribes the state and behavior of a serviceDescribes the state and behavior of a serviceIdentified by a unique contractIdentified by a unique contract

Generic Differential DriveGeneric Differential DriveContract: Contract: http://schemas.microsoft.com/robotics/2006/05/drivhttp://schemas.microsoft.com/robotics/2006/05/drive.htmle.html

MSRS ships with several Differential Drive MSRS ships with several Differential Drive services:services:

Lego “NXT Generic Drive”Lego “NXT Generic Drive”““iRobot® Generic Drive”iRobot® Generic Drive”““Simulated Generic Differential Drive”Simulated Generic Differential Drive”Pioneer “Arcos Drive”Pioneer “Arcos Drive”““Traxster Generic Drive”Traxster Generic Drive”


DriveDrive State

OverviewOverviewDialogDriveDialogDrive

Create a ServiceCreate a ServiceDssNewService.exeDssNewService.exe

Partner with the Partner with the Generic Generic Differential DriveDifferential Drive

Partner with the Partner with the Direction DialogDirection Dialog sample sample

CoordinationCoordinationUse direction buttons to drive the RobotUse direction buttons to drive the Robot

Test the ServiceTest the ServiceGeneric contracts and switching Generic contracts and switching hardwarehardware


State

OverviewOverviewDialogDriveDialogDrive

MethodsMethodsStart()Start()

InitializationInitialization

SubscribeToDirectionDialog()SubscribeToDirectionDialog()Send Button Notifications to my HandlersSend Button Notifications to my Handlers

DialogButtonPressHandler()DialogButtonPressHandler()““Forwards”, “Backwards”Forwards”, “Backwards”

““Left”, “Right”, “Stop”Left”, “Right”, “Stop”

DialogButtonReleaseHandler()DialogButtonReleaseHandler()Stop DrivingStop Driving


State

Dialog DriveDialog Drive

DialogDrive Application

Robotics TutorialRobotics TutorialCreating a ServiceCreating a Service

DssNewService.exeDssNewService.exedssnewservice /service:DialogDrivedssnewservice /service:DialogDrive

Partner with your mobile RobotPartner with your mobile RobotAdd references: Add references:

RoboticsCommon.Proxy.dllRoboticsCommon.Proxy.dll

DirectionDialog.Y2006.M08.proxy.dllDirectionDialog.Y2006.M08.proxy.dll

Add using … with namespace prefix:Add using … with namespace prefix:

using dialog = Microsoft.Robotics.Services.Sample.using dialog = Microsoft.Robotics.Services.Sample.DirectionDialog.ProxyDirectionDialog.Proxy;;

using drive = Microsoft.Robotics.Services.using drive = Microsoft.Robotics.Services.Drive.ProxyDrive.Proxy;;


Set up Operation Ports for the dialog Set up Operation Ports for the dialog and drive services.and drive services.

CreateAlways vs. UseExistingCreateAlways vs. UseExisting

[[PartnerPartner("dialog", ("dialog", Contract = dialogContract = dialog.Contract.Identifier,.Contract.Identifier,

CreationPolicy = PartnerCreationPolicy.CreateAlways)]CreationPolicy = PartnerCreationPolicy.CreateAlways)]

private dialog.private dialog.DirectionDialogOperationsDirectionDialogOperations _dialogPort = new _dialogPort = new dialog.DirectionDialogOperations();dialog.DirectionDialogOperations();

[[PartnerPartner("drive", ("drive", Contract = driveContract = drive.Contract.Identifier,.Contract.Identifier,

CreationPolicy = PartnerCreationPolicy.UseExisting)]CreationPolicy = PartnerCreationPolicy.UseExisting)]

private drive.private drive.DriveOperationsDriveOperations _drivePort = new _drivePort = new drive.DriveOperations();drive.DriveOperations();


On Start, enable the drive and On Start, enable the drive and Subscribe to “button” NotificationsSubscribe to “button” Notifications

protected override void protected override void StartStart()()

{{

base.Start();base.Start();

_drivePort.EnableDrive(_drivePort.EnableDrive(

new new drive.EnableDriveRequest(true));drive.EnableDriveRequest(true));

SubscribeToSubscribeToDirectionDialogDirectionDialog();();

}}


Listen for button pressListen for button presseded and and releasereleasedd and call the appropriate and call the appropriate handlerhandler..

private void private void SubscribeToDirectionDialogSubscribeToDirectionDialog()()

{{

dialog.dialog.DirectionDialogOperationsDirectionDialogOperations dialogNotifications = dialogNotifications =

new dialog.DirectionDialogOperations();new dialog.DirectionDialogOperations();

_dialogPort._dialogPort.SubscribeSubscribe(dialogNotifications);(dialogNotifications);

Activate<ITask>(Activate<ITask>(

Arbiter.Arbiter.ReceiveReceive<dialog.<dialog.ButtonPressButtonPress>( true,>( true,

dialogNotifications, DialogButtonPressHandler), dialogNotifications, DialogButtonPressHandler),

Arbiter.Arbiter.ReceiveReceive<dialog.<dialog.ButtonReleaseButtonRelease>( true,>( true,

dialogNotifications, DialogButtonReleaseHandler));dialogNotifications, DialogButtonReleaseHandler));

}}

Robotics TutorialRobotics TutorialCoordinationCoordination

Dialog Button Press HandlerDialog Button Press Handler““Name” identifies which button was Name” identifies which button was pressed.pressed.

While the button is being pressed, start While the button is being pressed, start driving our robot in the specified driving our robot in the specified direction.direction.

private void private void DialogButtonPressHandlerDialogButtonPressHandler(dialog.ButtonPress buttonPress)(dialog.ButtonPress buttonPress) {{ LogInfo(LogGroups.Console, buttonPress.Body.Name + " Pressed");LogInfo(LogGroups.Console, buttonPress.Body.Name + " Pressed");

switch (switch (buttonPress.Body.NamebuttonPress.Body.Name)) {{

case "case "ForwardsForwards":":

_drivePort.SetDrivePower(new_drivePort.SetDrivePower(new

drive.drive.SetDrivePowerRequestSetDrivePowerRequest((1.0, 1.01.0, 1.0));));

break;break;


Dialog Button Press HandlerDialog Button Press Handlercase "case "ForwardsForwards":":

_drivePort.SetDrivePower(new drive._drivePort.SetDrivePower(new drive.SetDrivePowerRequestSetDrivePowerRequest(1.0, 1.0)(1.0, 1.0));); break;break;

case "case "LeftLeft":":

_drivePort.SetDrivePower(new drive._drivePort.SetDrivePower(new drive.SetDrivePowerRequestSetDrivePowerRequest(-1.0, 1.0)(-1.0, 1.0));); break;break;

case "case "RightRight":":

_drivePort.SetDrivePower(new drive._drivePort.SetDrivePower(new drive.SetDrivePowerRequestSetDrivePowerRequest(1.0, -1.0)(1.0, -1.0));); break;break;

case "case "BackwardsBackwards":":

_drivePort.SetDrivePower(new drive._drivePort.SetDrivePower(new drive.SetDrivePowerRequestSetDrivePowerRequest(-1.0, -1.0)(-1.0, -1.0));); break;break;

case "case "StopStop":":

_drivePort.SetDrivePower(new drive._drivePort.SetDrivePower(new drive.SetDrivePowerRequestSetDrivePowerRequest(0, 0)(0, 0));); break;break;


Button Release NotificationsButton Release NotificationsStop driving when a button is releasedStop driving when a button is released

private void private void DialogButtonReleaseHandlerDialogButtonReleaseHandler((

dialog.ButtonRelease buttonRelease)dialog.ButtonRelease buttonRelease)

{{

LogInfoLogInfo(LogGroups.Console, (LogGroups.Console,

buttonbuttonReleaseRelease.Body.Name + " Released");.Body.Name + " Released");

_drivePort._drivePort.SetDrivePowerSetDrivePower((

new drive.new drive.SetDrivePowerRequestSetDrivePowerRequest(0, 0));(0, 0));

}}

Compile!Compile!

Robotics TutorialRobotics TutorialTest the ServiceTest the Service

ManifestsManifestsA Manifest contains a list of services to A Manifest contains a list of services to be startedbe started

DssNewService created a default DssNewService created a default manifest:manifest:

DialogDrive.manifest.xmlDialogDrive.manifest.xml

The The DirectionDialogDirectionDialog service was marked service was marked “CreateAlways” “CreateAlways”

It will be started automatically by our It will be started automatically by our service. service.

LEGO “LEGO “NXT Generic DriveNXT Generic Drive” is ” is instantiated by:instantiated by:

LEGO.NXT.Tribot.manifest.xmlLEGO.NXT.Tribot.manifest.xml


State

Dialog Dialog DriveDrive

State

Generic Generic DifferentialDifferential

DriveDriveState


How did I find the LEGO manifest?How did I find the LEGO manifest?Use VPL to look up Service to Manifest Use VPL to look up Service to Manifest relationshipsrelationships


Start a DSS Node with DssHost.exeStart a DSS Node with DssHost.exe

Using two manifests:Using two manifests:LEGO.NXT.TriBot.manifest.xmlLEGO.NXT.TriBot.manifest.xml

DialogDrive.manifest.xmlDialogDrive.manifest.xml


Inspect the Inspect the running running service with service with a browsera browser

Configure the Configure the LEGO BrickLEGO Brick

Presss Presss [Connect][Connect]

Press and Press and hold an hold an arrow on the arrow on the direction direction dialogdialog

SummarySummaryControlling a Robot with MSRSControlling a Robot with MSRS

Create an orchestration service that:Create an orchestration service that:Drives a RobotDrives a Robot

Partners with a robotics servicePartners with a robotics service

Connects to a Generic ContractConnects to a Generic Contract

Subscribes to NotificationsSubscribes to Notifications

Issues commands to the robotic serviceIssues commands to the robotic service

© 2006 Microsoft Corporation. All rights reserved. Microsoft, Windows, Windows Vista and other product names are or may be registered trademarks and/or trademarks in the U.S. and/or other countries.The information herein is for informational purposes only and represents the current view of Microsoft Corporation as of the date of this presentation. Because Microsoft must respond to changing market conditions,

it should not be interpreted to be a commitment on the part of Microsoft, and Microsoft cannot guarantee the accuracy of any information provided after the date of this presentation. MICROSOFT MAKES NO WARRANTIES, EXPRESS, IMPLIED OR STATUTORY, AS TO THE INFORMATION IN THIS PRESENTATION.

Documents

Robotics Tutorial Controlling a Robot with MSRS