vector-gobot

README

vector-gobot

This is a Go wrapper for poc.vic-hack. It allows you to directly communicate with the Anki Vector robot's hardware with easy-to-use Go functions and definitions.

Modules

• vcam
• vbody
• vimu
• vscreen
• vjpeg
  • Meant to be used in conjunction with vcam.
  • Takes a camera frame, unpacks it, debayers it, and converts it to JPEG as fast as possible with turbojpeg.
  • Needs an extra lib to be built.

Building

1. Clone the repo (with submodules):

git clone --recurse-submodules https://github.com/kercre123/vector-gobot

1. Build the libs:

make

• At this point, you can use vcam, vscreen, and vbody. To use vjpeg, you must compile libjpeg-turbo.so:

make libjpeg-turbo

1. Build your program (in this case, the body example program):

CC="$(pwd)/vic-toolchain/arm-linux-gnueabi/bin/arm-linux-gnueabi-gcc" \
CGO_LDFLAGS="-Lbuild" \
GOARM=7 \
GOARCH=arm \
CGO_ENABLED=1 \
go build -o build/main examples/body/readout.go

• You can define your own toolchain. Just make sure the same one used to build the libs is also the one you are using to build the Go program. Example: TOOLCHAIN=$HOME/vchain/arm-linux-gnueabi/bin/arm-linux-gnueabi- make
• If you want to build for x86/native, do TOOLCHAIN=" " make
  • For body communication on x86, you will have to run something like sudo ln -s /dev/ttyUSB0 /dev/ttyHS0 before trying anything out

Installing a program on a bot

1. The anki-robot.target must be stopped, so SSH in and run:

systemctl stop anki-robot.target

1. The built libs (in ./build) need to be in a place where programs can find them. You can do this by copying them over to the bot's /lib folder or by putting them in any directory and running a program like this:

LD_LIBRARY_PATH=/data/gobot_libs ./main

• Note: by default, /data is mounted as noexec, meaning you can't run any programs in it. To change this:

mount -o rw,remount,exec /data

Features

1. Spine (vspine)
   • LEDs
   • Motors
   • Encoders
   • Mics
   • Touch
   • Battery/Charger Voltage
   • Body Temperature
   • ToF Sensor
     • It is able to get data, but I haven't figured out how to calculate it all into a nice mm value
   • Cliff Sensors
2. Camera (vcam)
   • Communicates with mm-anki-camera to get data
   • Changes service file to get full framerate from camera
   • Gets RGGB10 data from camera. Functions to convert that are included
3. JPEG (vjpeg)
   • Meant to be used in conjunction with camera
   • Communicates with libturbojpeg to quickly compress frames, like for an MJPEG stream
   • Includes a direct RGGB10-to-JPEG function
4. Screen (vscreen)
   • Fully working
5. IMU (vimu)
   • Fully working
   • Polls every 10 ms

TODO

• PCM (speaker)
• ToF sensor calculations
• Maybe read from calibration files
• Implement a way to normalize a camera image and remove distortion from lens
• Nice mic interface functions
• Remove all memory leaks