Subject:
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Re: serial interface
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 29 Oct 1997 23:25:01 GMT
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Original-From:
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Richard Drushel <drushel@apkSTOPSPAMMERS.net>
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Viewed:
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1696 times
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[Lisa Meeden] spake unto the ether:
> I am interested in using the handyboard platform to do online robot
> learning on a unix platform. I would like to have my learning program
> (written in ansi C and compiled with gcc) running on a unix machine
> sending motor commands and receiving sensor readings through the
> serial line. I have looked at the serial code provided on the
> handyboard web page: serialio.c, conio.c, and debug_serialio.c. These
> seem to provide the backbone needed to do this, but do not include
> mechanisms to command the motors or read the sensors.
Hi Lisa, I wrote the conio.c etc. stuff, but purposely didn't write
any kind of command/telemetry protocol like you're suggesting. If a polled
serial I/O environment on the HB side is good enough for your needs, then
writing a suitable command/telemetry protocol should be easy. Off the top
of my head, how about something like
UNIX HB
"R" device ------------------->
<------------------- sensor value 0-255
"W" device data -------------->
<------------------- ACK or NAK
Device numbers could be sequentially numbered, with fixed offsets to
separate device classes (e.g., 0 for digital ports, 20 for analog ports,
40 for DC motors, 60 for servo motors, allowing room for expansion).
Data values for writes could be motor speeds/directions, encoded any
way you like. Use your imagination; you can invent virtual devices (e.g.
a status device which might return a multi-byte data packet representing
the state of several sensors, motors, or what have you).
If you need really high UNIX-HB communication rates, however,
you'll have to write an .ICB to implement buffered, interrupt-driven
serial I/O for the HB.
*Rich*
--
Richard F. Drushel, Ph.D. | "Aplysia californica" is your taxonomic
Department of Biology, Slug Division | nomenclature. / A slug, by any other
Case Western Reserve University | name, is still a slug by nature.
Cleveland, Ohio 44106-7080 U.S.A. | -- apologies to Data, "Ode to Spot"
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Message is in Reply To:
 | | serial interface
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| I am interested in using the handyboard platform to do online robot learning on a unix platform. I would like to have my learning program (written in ansi C and compiled with gcc) running on a unix machine sending motor commands and receiving sensor (...) (27 years ago, 29-Oct-97, to lugnet.robotics.handyboard)
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