javascript on arduino

FileNewTemplate

Click to edit Master title style

Click to edit Master subtitle style

9/23/15

Click to edit Master title style

Click to edit the outline text formatSecond Outline LevelThird Outline LevelFourth Outline LevelFifth Outline LevelSixth Outline LevelSeventh Outline LevelClick to edit Master text stylesSecond levelThird levelFourth level

Fifth level

9/23/15

Javascript on Arduino

Keith Bloomfield - Dev9


Told from experiencemotivation

approach

lessons learned

Talking points:hardware

software

design patterns

hardware/software integration

code samples


Motivation


Motivation

SainSmart palletizing robotic arm


Motivation

SainSmart palletizing robotic arm - $118.23


Motivation


ProsMuch cheaper than rival hobby robotic arms

Performs surprisingly well in terms of speed


Motivation


ConsNot much lifting power

Difficult to replace parts

No instructions


Motivation

IoT is the buzzword of the day


Motivation



Motivation


But it isn't entirely newParts are cheaper

Tutorials are available

Technology is more developer friendly

Similar reasons why many people became software developers

We will get back to this


Arduino

- Is a microcontroller (Open source prototyping platform) A small computer on a single integrated circuit (memory, processor, I/O peripherals).- One of several competing products

Shield

- Extends capabilities of the Arduino- Requires a driver- Requires soldering


Javascript is powering devices

Johnny-five http://johnny-five.io

Cylon http://cylonjs.com

Espruino (Javascript on the metal) http://www.espruino.com/

and more!



Firmata: It's a protocol, it's a library...



Firmata: It's a protocol, it's a library...

- Enables communication between a computer and a microcontroller using the midi message format:http://www.midi.org/techspecs/midimessages.php


IoT is the buzzword of the day?


IoT is the buzzword of the day?

The cloud acts as the OS of the device.


Software:

johnny-five: JS Robotics & IoT framework compulsive ('13) Loops and delays without traditional timers. Time based event loop process queue

temporal? (TODO '14) Non-blocking, temporal task sequencing.



johnny-five

- has a useful REPL (read-eval-print loop) - supports a growing number of boards, shields, sensors, actuators



Hardware: Arduino Mega 2560 AdaFruit Servo Shield Servos IR motion sensor



Hardware: Load Sensor HX711 Load Cell Amp MultiColor Led HUZZA ESP8266 Wifi breakout



Powered by:Arduino: Basic arm motion only(4) 1.5V AA Batteries: Arm with augmented body

5V 2A power supply: Arm, lid, motion sensor. Struggles lifting when all 3 in operation at the same time.

5V 10A power supply: Sufficient

Servos require lots of power!


Be careful about mishaps. The larger/stronger the robot, the more severe the accident.

Accidents can quickly disable functionality.





Recovery may take several days (new hardware in the mail)





Recovery may take several days (new hardware in the mail)

+ Add an emergency stop early



When composition relies heavily on found components, and the idea is ad hoc, hardware refactoring/reassembly is frequent.

Lesson: It's easy to end up in the weeds



+ Plan well, measure accurately and thoroughly.




+ Plan well, measure accurately and thoroughly.

+ Expect to spend considerable time refactoring if you are planning as you go.



+ Refactor small, iterative/incremental, stable as possible




+ Use a board to track tasks




+ Use a board to track tasks

+ Keep changes in sync with the REPL



Couples sensory information to action selection (what to do next) in an intimate bottom-up fashion.

Subsumption Architecture




Behaviors prioritized and interruptive.





Lejos: Robot accessed directly through behaviors, focus on looping actions broken by flipping a boolean to false. Static methods/fields for convenience




Lejos: Robot accessed directly through behaviors, focus on looping actions broken by flipping a boolean to false. Static methods/fields for convenience

Challenge: Action selection implementation



Hardware in terms of stateful objects

On node.js?



Johnny-five: Animation



REST + JSON?


REST + JSON?

CoAP (Constrained Application Protocol) http://coap.technology/

QUIC (Quick UDP Internet Connections)https://www.chromium.org/quic

CBOR (Concise Binary Object Representation)http://cbor.io/

Apache thrift https://thrift.apache.org/

protobuf (Protocol Buffers serializing structured data) https://github.com/google/protobuf


- Costly,prohibitive ramp-up time

Inexpensive, interoperable, plug-and-play components

Expensive computation occurs in the cloud

The only limitation is creativity


The Robot...



- Detects presence of cat


- Detects presence of cat-Waits for cat to do its business


- Detects presence of cat-Waits for cat to do its business-Warns off nearby cat(s)


- Detects presence of cat-Waits for cat to do its business-Warns off nearby cat(s)-Scoops the clumps, deposits them in bin


- Detects presence of cat-Waits for cat to do its business-Warns off nearby cat(s)-Scoops the clumps, deposits them in bin- Levels the mounds


- Detects presence of cat-Waits for cat to do its business-Warns off nearby cat(s)-Scoops the clumps, deposits them in bin- Levels the mounds(v2) Tracks litter level in bin(v2) Notifies user once bin is full(v2) Detects clumps(v2) Wireless


Demo + Q&A

Github:github.com/kthblmfld/poopscavator

Demo:https://www.youtube.com/watch?v=kCbXBw0zStk