Programming the Scribbler 2 Robots

Two basic levels involved for using the Scribbler 2 Robots

• User's perspective: Write programs in C, taking advantage of an robot-oriented library
• Infrastructure perspective: Extensive MyroC library handles behind-the-scenes details
  
  MyroC = "My robot with C"

Challenge

Hard to test program controlling robot, as two concurrent tasks required

• read code to determine what robot is supposed to do
• watch robot to observe what robot actually does

Solution: Use speech synthesizer called eSpeak, so computer can tell user what is supposed to happen

Sample User Program to Move, Play Song, and Take Pictures

/* program to take several pictures, move, and beep
*/

#include <MyroC.h>          // utilize MyroC library
#include <eSpeakPackage.h>  // utilize eSpeakPackage library
#include <unistd.h>         // needed for sleep function
#include <stdio.h>          // needed for printing to terminal

/* Musical notes in the scale, as they correspond to beep frequency */
const int pitchA4  = 440;
const int pitchBf4 = 466;
const int pitchAs4 = 466; 
const int pitchB4  = 493;
const int pitchC5  = 523;
const int pitchDf5 = 554;
const int pitchCs5 = 554; 
const int pitchD5  = 587;
const int pitchEf5 = 622;
const int pitchDs5 = 622;
const int pitchE5  = 659;
const int pitchF5  = 698;
const int pitchGf5 = 739;
const int pitchFs5 = 739; 
const int pitchG5  = 783;
const int pitchAf5 = 830;
const int pitchGs5 = 830;
const int pitchA5  = 880;
const int pitchBf5 = 932;
const int pitchAs5 = 932;
const int pitchB5  = 987;

/* play first phrase of Spirit Song by John Dunbar */
void playSongPhrase1 ()
{
  eSpeakTalk ("play first phrase of song");
  rBeep (1, pitchA5); // robot beeps with the pitch A5 (references to 880 Hz.) for 1 second. 
  rBeep (0.75, pitchB5);
  rBeep (0.25, pitchA5);
  rBeep (1, pitchG5);
  rBeep (0.75, pitchE5);
    
  rBeep (0.75, pitchF5);
  rBeep (0.25, pitchA5);
  rBeep (0.75, pitchG5);
  rBeep (0.25, pitchF5);
  rBeep (1.25, pitchE5);
}

/* play second phrase of Spirit Song by John Dunbar */
void playSongPhrase2 ()
{
  eSpeakTalk ("play second phrase of song");
  rBeep (1, pitchA5);
  rBeep (0.75, pitchB5);
  rBeep (0.25, pitchA5);
  rBeep (1, pitchG5);
  rBeep (0.75, pitchE5);
}

/* play third phrase of Spirit Song by John Dunbar */
void playSongPhrase3 ()
{
  eSpeakTalk ("play third phrase of song");
  rBeep (0.75, pitchF5);
  rBeep (0.25, pitchE5);
  rBeep (0.75, pitchD5);
  rBeep (0.25, pitchC5);
  rBeep (1.0, pitchC5);
}

/* processing starts with a "main" procedure */
int main ()
{
  // initialization
  // rConnect ("/dev/rfcomm0");  // connect to paired robot on MathLAN
  rConnect ("0950");             // connect to a specific robot
  eSpeakConnect();

  /* take and display first picture looking ahead */
  Picture pic = rTakePicture ();
  rForward (-0.7, 1.0);    // move forward  0.7 seconds at full speed (non-blocking)
  rDisplayPicture (&pic, -20.0, "looking ahead");  // (non-blocking)
  playSongPhrase1 ();
  rBackward (0.7, 1.0);    // move backward  0.7 seconds at full speed

  /* second picture on the right */
  eSpeakSetGender ("female");
  rTurnRight (0.5, 0.6);  // turn right for 0.5 seconds at 60% speed 
  pic = rTakePicture ();
  rDisplayPicture (&pic, -15.0, "looking right");
  playSongPhrase2 ();

  /* third picture on the left */
  eSpeakSetGender ("male");
  rTurnLeft (1.0, 0.6);  // turn left for 1.0 seconds at  speed 
  pic = rTakePicture ();
  rDisplayPicture (&pic, -6.0, "looking left");
  rForward (-0.7, 1.0);    // move forward  0.7 seconds at full speed  (non-blocking)
  rBackward (0.7, 1.0);    // move backward  0.7 seconds at full speed
  playSongPhrase3 ();
  
  // finish up
  eSpeakTalk ("Finishing up");
  rDisconnect ();
  eSpeakDisconnect ();

  return 0;
}

Not very good video

created 25 January 2021 revised 30 January-3 February 2021

previous  next