##2014MDPGrp10

##Project Deliverable Checklist Assessment Form ####RPi Team

• A1. The Raspberry Pi board (RPi) is able to
  • accessed via a PC/notebook over Wifi
  • be wirelessly connected to the Nexus 7 tablet
  • communicate with the Arduino board through over a USB->Serial connection
  • multithread between 3 components
  • MORE DETAILED TASKS
  • decode the data received
  • robot deployment
  • PC Java connection testing
  • dropped connection from PC testing
  • dropped connection from Android testing
  • no initial connection from Arduino testing
  • FLOW TESTING
  • remote control testing
  • exploration testing
  • shortest path testing

####Arduino Team

• A2. Sensors calibrated to correctly return distance to obstacle
• A3. Accurate straight line motion
• A4. Accurate rotation
  • 90 degree rotation
• A5.
  • Obstacle avoidance
  • position recovery
• A6. Extension beyond the basics
  • Drifting

####Algo & Simulator team

• B1. Arena exploration simulator
• B2. Time and coverage-limited exploration simulation
• B3. Load map generator
• B4. Generate map descriptor
  • hexString MD1 & MD2
  • MD3 checkObstacle for simulator
  • MD3 checkObstacle for real-time robot
• B5. Fastest path computation simulator
  • Djikstra (BFS)
  • String path to pass on to RPi
• B5. Extension beyond the basics

####Android Team

• C1. The Android application (AA) is able to transmit and receive text strings over the Bluetooth serial communication link.
• C2. Functional graphical user interface (GUI) that is able to initiate the scanning, selection and connection with a Bluetooth device.
• C3. Functional GUI that provides interactive control of the robot movement via the Bluetooth link
• C4. Functional GUI that indicates the current status of the robot
• C5. 2D display of the maze environment and the robot’s location
• C6. Functional GUI that provides the selection of Manual or Auto updating of graphical display of the maze environment
• C7. Functional GUI that provides two buttons that supports persistent user reconfigurable string commands to the robot
• C8. Robust connectivity with Bluetooth device
• C9. Extension beyond the basics

##Communication Format

###JSON Format (RPi communication with Android and PC)

####Received by RPi

{
	type: "command" / "movement" / "path"
	data (command)	: "S" (initiate robot) / "E" (exploration) / "P" (shortest path) / "R" (remote-control)
	data (movement)	: "L" / "R" / "1" / "G" (stop)
    data (path)     : "LR1" / "G" (stop)
}

####Sent from RPi

{
	type: "reading" / "status" / "map"
	data (reading): {
		U_F		    : #
		U_R	        : #
		U_L	        : #
		short_LF	: #
		short_RF	: #
		short_FR	: #
		long_BL		: #
        X           : #
        Y           : #
        direction   : #
	}
	data (status)   : "END_EXP" / "END_PATH" / "END_RMT"
    data (map)      : [](map matrix)
}

###RPi/PC -> Arduino All Numbers and Chars

Start command S

number for go ahead x grids

Char for turning

L for left 90

R for right 90

D for drift //for demo

G for good to stop

####example

4 L 3 R R 1 G

####Arduino Send

    JsonObject<10> talk_Json;
    talk_Json["X"] = currentX;
    talk_Json["Y"] = currentY;
    talk_Json["direction"] = pwd;

    talk_Json["U_F"] = u_F_dis;
    talk_Json["U_R"] = u_R_dis;
    talk_Json["U_L"] = u_L_dis;

    talk_Json["short_LF"] = ir_lf_dis;
    talk_Json["short_RF"] = ir_rf_dis;

    talk_Json["short_FR"] = ir_r_dis;

    talk_Json["long_BL"] = ir_l_dis;
    Serial.print(talk_Json);
    Serial.println();
    //eg.
    //{"X":10,"Y":7,"direction":1,"U_F":5,"U_R":20,"U_L":231,"short_LF":659,"short_RF":608,"short_FR":354,"long_BL":216}
    //

####Arduino Get

while (!Serial.available() || Serial.read() != 'S'); //Start command

while (!Serial.available() || Serial.read() != 'P'); //Shortest Path

##Communication Scenarios

###Exploration

• Exploration Start:

  • Android -> (command to start exploration) -> RPi -> (command to start exploration) -> Arduino

• Exploration:

  • Arduino -> (sensor readings, direction, coordinate) -> RPi -> (sensor readings, direction, coordinate) -> PC & Android

• Exploration End:

  • Arduino -> (status exploration end) -> RPi -> (status exploration end) -> Android & PC
  • PC -> (map matrix) -> RPi -> (map matrix) -> Android
  • PC -> (shortest path as path) -> RPi -> (shortest path as path) -> Android

###Shortest Path

• Shortest Path Start:

  • Android -> (command to start shortest path) -> RPi -> (command to start shortest path) -> Arduino
  • Android -> (shortest path as movement) -> RPi -> (shortest path as movement) -> Arduino

• Shortest Path:

  • Arduino -> (direction, coordinate) -> RPi -> (direction, coordinate) -> Android

• Shortest Path End:

  • Arduino -> (status shortest path end) -> RPi -> (status shortest path end) -> Android

###Free Movement:

• Free Movement Start:

  • Android -> (command to start remote) -> RPi -> (command to start remote) -> Arduino

• Free Movement:

  • Android -> (movement command) -> RPi -> (movement command) -> Arduino

• Free Movement End:

  • Android -> (command to stop robot) -> RPi -> (command to stop robot) -> Arduino