RoboticsConnection User Forum / RoboticsConnection Software Support / Serializer C++ Library

right C++ code to control my robot?

mema — Thu, 15 May 2008 06:15:10 GMT

Hello

Can u help me to select the right C++ code to control my robot?

My robot have 2 bipolar stepper motors, the first one will be directly connect to the Serializer and it will have to move CW and CCW with the same motor speed

For the other stepper motor will connect to an external stepper controller (via the TTL serial port in the Serializer) and this motor should work also CW and CCW with the same motor speed

So plz tell me what are the codes that I should but in the VB commend. I develop the VB layout but don’t know what codes is should put inside each commend bottom. There are 4 bottoms (to allow the user to control the robot so the robot will go to the 4 directions up, down, right n left)

The big picture: when the user will click in the right arrow on the keyboard the robot will move to the right direction.

By the way Serializer that i use will interface using Bluetooth serial interfaces modules

All the best

Mema

multiple servo control

rdas — Sun, 03 Feb 2008 15:05:32 GMT

hi,

i got my serializer to work and its very nice. i'm using c++ in vs2005 to control it. so far i've gone through every line of the supplied test harness and the serializerlib source code and i want to go from using 1 servo to 2 at the same time.

i'm not seeing the relationship between the servo id number and a new initialized servo (in the testharness files). am i to assume that the first servo initialized is automatically assigned the next pin? or should i create a new pointer and change the motor_id to 2?

thanks

SerializerLibCpp Beta Release 0.3

jsummerour — Sat, 19 Jan 2008 20:51:50 GMT

SerializerLibCpp Release Notes

Version 0.3.0

Overview

This release completes the remaining testing tasks from the previous release V0.2.0 described in this forum. Testing for the CPidMotor class was completed and various bugs were identified and resolved. A new class was also developed and tested for the RoboticsConnection line following sensor, called CLineFollowingSensor.

Download

A zip file containing release notes, documentation (still in development), source code, binaries, and an example application (TestHarness) may be found here .

Outstanding Work

The following action items are still outstanding:

· Linux port of the SLC

· Linux port of the TestHarness application.

· User class documentation

Report Bugs

The SerializerLibCpp is a community project and relies on the feedback of its users to continue its evolution. Please submit any suggested enhancements or bugs to the RoboticsConnection forum for this project. Until the revision control system is made available online, when you find a bug and you have a fix, please feel free to submit it via the forum.

James Y. Wilson
http://www.learningce.com
Fortudine Vincimus!

SerialzierLibCpp Beta Release 0.2

jsummerour — Sat, 19 Jan 2008 20:51:02 GMT

SerializerLibCpp Release Notes

Version 0.2.0

Overview

The release contains many bug fixes identified while testing the remaining classes (listed in the Version 0.1.0 release note available in this forum). CPidMotor is the only remaining class which has not yet been fully tested. This testing will occur a few days after this release and will contain any necessary bug fixes.

The port to Windows Embedded CE (WECE) is complete and is provided in this release as another build target in the Visual Studio solution file. See the Building for Windows CE section for more information on how to create the WECE object module library for your target platform.

Download

A zip file containing release notes, documentation (still in development), source code, binaries, and an example application (TestHarness) may be found here.

Building for Windows Embedded CE

The WECE build target provided in this release in contained in the SLC solution file located in the SerializerLibCpp directory. As configured it will build for the x86 based eBox 2300 device (available at RoboticsConnection) with CE 6.0. This project may be used as the basis of building for other ARM based WECE target types.

To activate the build for the eBox 2300 select the Build | Configuration Manager option, and select the ebox2300_WinCE600_SDK (x86) platform in the Platform column of the dialog for the SerializerLibCpp project. You may also select the built-in platform type of Pocket PC 2003 (ARMV4) though this target type has not yet been tested. To select other custom platform types, you will need to install the Platform SDK for that platform. This is generally provided by the board vendor, or can be generated from within the Platform Builder project used to maintain the custom OS image.

A special WECE version of the Test Harness application is provided in the SLC under the TestHarnessCE project. The SerializerLibCpp.lib module built for the eBox 2300 platform, is statically linked with this application forming one TestHarnessCE.exe file.

Completed Testing

The following user classes (those intended to be called by Serializer applications) have been tested with actual hardware and were exercised using the SLC TestHarness application.:

· CDifferentialPwmDCMotor

· CPwmDCMotor

· CServoMotor

· CGP2D12

· CGP2D120

· CSRF08

· CWheelEncoder

· CBiPolarStepperMotor

· CSP03

· CCMPS03

· CGpioPin

· CI2CDevice

· CMaxSonarEZ1

· CPing

· CSRF04

· CSRF05

· CSRF10

· CTPA81

The following user classes have not been tested with actual hardware and have received only preliminary runtime testing.

· CPidMotor

Outstanding Work

The following action items are still outstanding:

· Classes for the RoboticsConnection line following sensor

· Testing required for the CPidMotor class

· Linux port of the SLC

· Linux port of the TestHarness application.

· User class documentation

Report Bugs

The SerializerLibCpp is a community project and relies on the feedback of its users to continue its evolution. Please submit any suggested enhancements or bugs to the RoboticsConnection forum for this project. Until the revision control system is made available online, please feel free to submit your bug fixes via this forum.

Onward!

James Y. Wilson
http://www.learningce.com
Fortudine Vincimus!

SerialzierLibCpp Alpha Release 0.1 (by James Y. Wilson)

jsummerour — Sat, 19 Jan 2008 20:50:00 GMT

This library was graciously written by James Y. Wilson (Microsoft MVP) - better known as Jim Wilson. We owe you a big thanks Jim! :)

The project source code can be downloaded on the Serializer Page, under the Docs/HowTo/Library tab.

SerializerLibCpp Alpha Release 0.1

Welcome to the first release of the SerializerLibCpp, providing a complete abstraction of the services provided by the Serializer robot controller available from RoboticsConnection. The SerializerLibCpp (SLC) is written in C++, and is based on its predecessor library providing identical services in C#. This release of SLC only provides support for Windows 2K, XP, and Vista. Support for Windows CE will be added the first week of October.

Content of This Release

This release, though feature complete, has not been fully tested. The Completed Testing section below lists the sensors and actuators which have been tested, and those which have not yet been tested.

This release in its current form is suitable for the development of new (or the adaptation of existing) C++ applications which use the Serializer. It is not, however, ready for deployment into a final production application, as it is likely that many bugs will be resolved as testing is completed. Even with additional testing, however, it is unlikely that the C++ class interface will change. If it becomes necessary to make such a change, detailed release notes will be provided describing the requirements for migrating code written to use previous release.

TestHarness Application

An application is included in this release that was used to exercise each of the newly developed sensor and actuator classes. It is not intended to be an example of a well designed robot application, but instead is intended to systematically activate all code paths within SLC. Additional code will be provided that provides a genuine example application using SLC for robotic control and sensing.

Documentation

The C# Serializer library provides outstanding documentation. I will also provide similar documentation (using a documentation extraction tool, such as Doxygen). Until the first production release of SLC you will have to struggle through by studying the source code itself. The best place to begin is at the TestHarness application which demonstrates the use of SLC classes.

Differences Between SerializerLibCpp (C++) and SerializerLib (C#)

Though the design of SLC was based on that of the SerializerLib, there are a few differences in the name of certain member functions or were implemented in a manner that produces a slightly different behavior. The most significant of these differences is in the implementation of the SetThreshold member function which exists in all sensor classes. The SetThreshold member function as implemented in SerializerLib (C#) generates an event whenever a certain degree of change has occurred in the sensor value. The implementation in SLC instead calls a callback function or generates a message (SendMessage or PostMessage) on the rising or falling transition of the sensor value relative to the reference value specified. The addition of a SetThreshold member function with behaves as SerializerLib does (based on the specified degree of change) is a current TODO item for SLC.

Any additional differences will be documented in the official SLC documentation available by the time of the production release.