New version of BROBOT EVO2

This is the first oficial version of BROBOT EVO2. Enjoy!

Blockly/python/BROBOT_Class.py

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+# BROBOT PYTHON CLASS
+# Exampe 1: Simple commands
+# Before running the script you need to connect the PC to the BROBOT wifi
+# Remember, default password for Wifi network JJROBOTS_XX is 87654321
+
+# author: JJROBOTS 2016
+# version: 1.01 (27/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import socket
+import time
+import struct
+
+# CLASS to control BROBOT
+class BROBOT(object):
+  UDP_IP = "192.168.4.1"     # Default BROBOT IP (with BROBOT JJROBOTS_XX wifi)
+  UDP_PORT = 2222  # Default BROBOT port
+  sock = 0
+  def __init__(self):
+    # Create default socket with UDP protocol
+    self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
+
+  def sendCommand(self,OSCmessage,param):
+    base = bytearray(OSCmessage)  # OSC message
+    param = bytearray(struct.pack(">f",param))
+    message = base+param
+    self.sock.sendto(message,(self.UDP_IP,self.UDP_PORT))
+    time.sleep(0.05)
+
+  # Mode: 0 NORMAL MODE, 1 PRO MODE
+  def mode(self,value=0.0):
+    print "BROBOT Mode:",value
+    if (value!=1): value = 0.0
+    # Encapsulate the commands on OSC protocol UDP message and send...
+    self.sendCommand(b'/1/toggle1/\x00\x00,f\x00\x00',value)
+  
+  # Throttle command. Values from [-1.0 to 1.0] positive: forward
+  def throttle(self,value=0.0):
+    print "BROBOT Throttle:",value
+    value = (value+1.0)/2.0  # Adapt values to 0.0-1.0 range
+    self.sendCommand(b'/1/fader1\x00\x00\x00,f\x00\x00',value)  #send OSC message
+
+  # Steering command. Values from [-1.0 to 1.0] positive: turn right
+  def steering(self,value=0.0):
+    print "BROBOT Steering:",value
+    value = (value+1.0)/2.0  # Adapt values to 0.0-1.0 range
+    self.sendCommand(b'/1/fader2\x00\x00\x00,f\x00\x00',value)  #send OSC message
+
+  # Servo command. Values 0 or 1 (activated)
+  def servo(self,value=0.0):
+    print "BROBOT Servo:",value
+    if (value!=1):value=0.0
+    self.sendCommand(b'/1/push1\x00\x00,f\x00\x00',value)  #send OSC message  
+

Blockly/python/Example1.py

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+# BROBOT PC CONTROL python script
+# Exampe 1: Simple commands
+# Before running the script you need to connect the PC to the BROBOT wifi
+# Remember, default password for Wifi network JJROBOTS_XX is 87654321
+
+# author: JJROBOTS 2016
+# version: 1.01 (28/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import time
+from BROBOT_Class import BROBOT # Import CLASS to control BROBOT
+
+# BROBOT initialization
+myRobot = BROBOT()
+myRobot.mode(0)  # Normal mode. optional: PRO MODE=1
+
+# Example of sequence of commands to BROBOT:
+myRobot.servo(1)       #Move servo
+time.sleep(0.25)
+myRobot.servo(0)
+time.sleep(0.25)
+myRobot.servo(1)       #Move servo
+time.sleep(0.25)
+myRobot.servo(0)
+
+myRobot.throttle(0.6)   #Move forward
+time.sleep(1.2)
+myRobot.throttle(0)     #Stop
+time.sleep(2)
+myRobot.steering(0.8)   #Turn right
+time.sleep(2)
+myRobot.steering(0)
+time.sleep(0.25)
+myRobot.steering(-0.8)  #Turn left
+time.sleep(2)
+myRobot.steering(0)     #Stop
+myRobot.throttle(0)     
+
+

Blockly/python/Example2.py

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+# BROBOT PC CONTROL python script
+# Exampe 2: Brobot Dance
+# Before running the script you need to connect the PC to the BROBOT wifi
+# Remember, default password for Wifi network JJROBOTS_XX is 87654321
+
+# author: JJROBOTS 2016
+# version: 1.01 (28/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import time
+from BROBOT_Class import BROBOT # Import CLASS to control BROBOT
+
+# BROBOT initialization
+myRobot = BROBOT()
+myRobot.mode(1)  # PRO MODE
+
+for i in range(0,2):
+    myRobot.servo(1)
+    time.sleep(0.15)
+    myRobot.servo(0)
+    time.sleep(0.15)
+
+for i in range(0,3):
+    myRobot.steering(0.5+i*0.1)
+    time.sleep(0.25)
+    myRobot.steering(0)
+    myRobot.steering(-0.5-i*0.1)
+    time.sleep(0.25)
+    myRobot.steering(0)
+    myRobot.steering(-0.5-i*0.1)
+    time.sleep(0.25)
+    myRobot.steering(0)
+    myRobot.steering(0.5+i*0.1)
+    time.sleep(0.25)
+    myRobot.steering(0)
+    myRobot.servo(1)
+    myRobot.servo(0)
+    
+
+for i in range(0,5):
+    myRobot.throttle(0.3)
+    time.sleep(0.08)
+    myRobot.throttle(0)
+    time.sleep(0.08)
+    myRobot.throttle(-0.3)
+    time.sleep(0.08)
+    myRobot.throttle(0)
+    myRobot.servo(1)
+    myRobot.servo(0)
+
+myRobot.steering(1)
+time.sleep(1)
+myRobot.steering(0)
+time.sleep(0.1)
+myRobot.steering(-1)
+time.sleep(1)
+myRobot.steering(0)
+
+
+
+    
+    
+    
+
+
+

Blockly/python/Example3.py

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+# BROBOT PC CONTROL python script
+# Exampe 3: Graphic User Interface to control BROBOT (using Tkinter python UI)
+# Before running the script you need to connect the PC to the BROBOT wifi
+# Remember, default password for Wifi network JJROBOTS_XX is 87654321
+
+# author: JJROBOTS 2016
+# version: 1.01 (28/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import socket
+import time
+import struct
+import Tkinter as tk
+from Tkinter import IntVar
+from BROBOT_Class import BROBOT # Import CLASS to control BROBOT
+
+
+# GRAPHIC USER INTERFACE
+class MainApplication(tk.Frame):
+  throttle = 0
+  steering = 0
+  mode = 0
+  myRobot = BROBOT()
+  def draw(self):
+    print "DRAW"
+  def __init__(self,parent,*args,**kwargs):
+    tk.Frame.__init__(self,parent,*args,**kwargs)
+    self.parent = parent
+    # GUI INIT: 2 sliders and 1 button
+    self.t = tk.Scale(troughcolor="light yellow",from_=100,to=-100,width=40,length=200)
+    self.t.pack(side=tk.LEFT,fill=tk.BOTH,expand=1)
+    self.s = tk.Scale(troughcolor="light cyan",from_=-100,to=100,width=40,length=250,orient=tk.HORIZONTAL)
+    self.s.pack(side=tk.LEFT,fill=tk.X)
+    self.after(50,self.timer)
+    self.b = tk.Button(bg="light green",repeatdelay=1,repeatinterval=50,width=10,height=2,text="SERVO",command=self.buttonCallback)
+    self.b.pack(side=tk.LEFT)
+    self.mode_control = IntVar()
+    self.m = tk.Checkbutton(text="PRO MODE",variable=self.mode_control)
+    self.m.pack()
+  def buttonCallback(self):
+    self.myRobot.servo(1)
+    time.sleep(0.2)
+    self.myRobot.servo(0)    
+  def timer(self): # Timer at 50ms interval to read slider values
+    if (self.t.get()!=self.throttle):
+      self.throttle = self.t.get()
+      self.myRobot.throttle(self.throttle/100.0)
+      #print "THROTTLE:",self.throttle
+    if (self.s.get()!=self.steering):
+      self.steering = self.s.get()
+      self.myRobot.steering(self.steering/100.0)
+      #print "STEERING:",self.steering    
+    if (self.mode_control.get()!=self.mode):
+      self.mode = self.mode_control.get()
+      self.myRobot.mode(self.mode)
+      #print "MODE:",self.mode
+    self.after(50,self.timer)
+    
+
+# START APPLICATION
+if __name__=="__main__":
+    root = tk.Tk()
+    root.wm_title("BROBOT CONTROL")
+    MainApplication(root).pack(side="top",fill="both",expand=True)
+    root.mainloop()
+
+

Blockly/python/Example4.py

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+# BROBOT PC CONTROL python script
+# Exampe 4: Controlling 2 BROBOTS in a coreography...
+# You should modify your BROBOT arduino code to connecto to your wifi network
+# BROBOT1 is on IP 192.168.1.101 and BROBOT 2 IP is 192.168.1.102
+
+# author: JJROBOTS 2016
+# version: 1.01 (28/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import time
+from BROBOT_Class import BROBOT # Import CLASS to control BROBOT
+
+# BROBOT1 initialization
+myRobot1 = BROBOT()
+myRobot1.UDP_IP = "192.168.1.101"
+myRobot1.mode(0)  # Normal mode. optional: PRO MODE=1
+
+# BROBOT1 initialization
+myRobot2 = BROBOT()
+myRobot2.UDP_IP = "192.168.1.102"
+myRobot2.mode(0)  # Normal mode. optional: PRO MODE=1
+
+
+# Example of sequence of commands to BROBOT:
+myRobot1.servo(1)       #Move servo
+myRobot2.servo(1)
+time.sleep(0.25)
+myRobot1.servo(0)
+myRobot2.servo(0)
+time.sleep(0.25)
+myRobot1.servo(1)       #Move servo
+myRobot2.servo(1)
+time.sleep(0.25)
+myRobot1.servo(0)
+myRobot2.servo(0)
+
+myRobot1.throttle(0.4)
+myRobot2.throttle(0.4)
+time.sleep(0.75)
+myRobot1.throttle(0)
+myRobot2.throttle(0)
+time.sleep(1)
+myRobot1.steering(0.8)   # Robot1 Turn right
+myRobot2.steering(-0.8)  # Robot2 Turn left
+time.sleep(2)
+myRobot1.steering(0)
+myRobot2.steering(0)
+time.sleep(0.25)
+myRobot1.steering(-0.8)  # Robot1 Turn left
+myRobot2.steering(0.8)   # Robot2 Turn right
+time.sleep(2)
+myRobot1.steering(0)     #Stop
+myRobot2.steering(0)
+myRobot1.throttle(0)
+myRobot2.throttle(0)
+
+
+

Blockly/python/server/BROBOT_Class.py

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+# BROBOT PYTHON CLASS
+# Exampe 1: Simple commands
+# Before running the script you need to connect the PC to the BROBOT wifi
+# Remember, default password for Wifi network JJROBOTS_XX is 87654321
+
+# author: JJROBOTS 2016
+# version: 1.01 (27/10/2016)
+# Licence: Open Source (GNU LGPLv3)
+
+import socket
+import time
+import struct
+
+# CLASS to control BROBOT
+class BROBOT(object):
+  UDP_IP = "192.168.4.1"     # Default BROBOT IP (with BROBOT JJROBOTS_XX wifi)
+  UDP_PORT = 2222  # Default BROBOT port
+  sock = 0
+  def __init__(self):
+    # Create default socket with UDP protocol
+    self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
+
+  def sendCommand(self,OSCmessage,param):
+    base = bytearray(OSCmessage)  # OSC message
+    param = bytearray(struct.pack(">f",param))
+    message = base+param
+    self.sock.sendto(message,(self.UDP_IP,self.UDP_PORT))
+    time.sleep(0.05)
+
+  # Mode: 0 NORMAL MODE, 1 PRO MODE
+  def mode(self,value=0.0):
+    print "BROBOT Mode:",value
+    if (value!=1): value = 0.0
+    # Encapsulate the commands on OSC protocol UDP message and send...
+    self.sendCommand(b'/1/toggle1/\x00\x00,f\x00\x00',value)
+  
+  # Throttle command. Values from [-1.0 to 1.0] positive: forward
+  def throttle(self,value=0.0):
+    print "BROBOT Throttle:",value
+    value = (value+1.0)/2.0  # Adapt values to 0.0-1.0 range
+    self.sendCommand(b'/1/fader1\x00\x00\x00,f\x00\x00',value)  #send OSC message
+
+  # Steering command. Values from [-1.0 to 1.0] positive: turn right
+  def steering(self,value=0.0):
+    print "BROBOT Steering:",value
+    value = (value+1.0)/2.0  # Adapt values to 0.0-1.0 range
+    self.sendCommand(b'/1/fader2\x00\x00\x00,f\x00\x00',value)  #send OSC message
+
+  # Move speed, steps1, steps2
+  def move(self,speed,steps1,steps2):
+    print "BROBOT MOVE",speed,steps1,steps2
+    base = bytearray(b'/1/move\x00\x00\x00')
+    param1 = bytearray(struct.pack("h",speed))
+    param2 = bytearray(struct.pack("h",steps1))
+    param3 = bytearray(struct.pack("h",steps2))
+    message = base+param1+param2+param3
+    self.sock.sendto(message,(self.UDP_IP,self.UDP_PORT))
+    #print len(message)
+    #self.sendCommand(b'/1/move\x00\x00\x00\x00\x00\x00
+
+  # Servo command. Values 0 or 1 (activated)
+  def servo(self,value=0.0):
+    print "BROBOT Servo:",value
+    if (value!=1):value=0.0
+    self.sendCommand(b'/1/push1\x00\x00,f\x00\x00',value)  #send OSC message  
+

Blockly/python/server/webserver.py

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+#!/usr/bin/python
+# Blockly interface for BROBOT block programming
+
+# Remember to connect your wifi to your robot network JJROBOTS_XX password:8764321
+
+# author: JJROBOTS 2017
+# version: 1.01 (10/03/2017)
+# Licence: Open Source (GNU LGPLv3)
+
+from BaseHTTPServer import BaseHTTPRequestHandler,HTTPServer
+from os import curdir, sep
+import urlparse
+from BROBOT_Class import BROBOT
+import time
+import webbrowser
+import threading
+import socket
+
+# BROBOT initialization
+myRobot = BROBOT()
+IP = myRobot.UDP_IP
+PORT = myRobot.UDP_PORT
+
+HTTP2UDP_PORT = 8008
+PORT_NUMBER = 8080
+
+# Telemetry port
+UDP_PORT = 2223
+
+# Global variables
+global status
+global angle
+status = 0
+angle = 0.0
+
+# Class to launch servers on different threads
+class ServerThread(threading.Thread):
+    def __init__(self,port,handler):
+        threading.Thread.__init__(self)
+        self.port=port
+        self.handler = handler
+
+    def run(self):
+        server = HTTPServer(('localhost', self.port), self.handler)
+        server.serve_forever()
+        
+
+#Browser to handle HTTP to UDP conversion
+class HTTP2UDP(BaseHTTPRequestHandler):
+    # Override address_string to avoid using name lookup
+    def address_string(self):
+        host, port = self.client_address[:2]
+        #return socket.getfqdn(host)
+        return host
+    def do_GET(self):
+        #print("GET request")
+        self.send_response(200)
+        self.send_header("Access-Control-Allow-Origin","*")
+        self.send_header("Content-type", "text/html")
+        self.end_headers()
+        params = self.path
+        params = params.split('?')
+        if (len(params)>1):
+            params = urlparse.parse_qs(params[1])
+            if 'IP' in params.keys():
+                print "IP: "+params['IP'][0]
+                myRobot.UDP_IP = params['IP'][0]
+            if 'PORT' in params.keys():
+                print "PORT: "+params['PORT'][0]
+                myRobot.UDP_PORT = int(params['PORT'][0])
+            if 'ST' in params.keys():
+                #print params['ST'][0]
+                myRobot.steering(int(params['ST'][0])/100.0)
+            if 'TH' in params.keys():
+                #print params['TH'][0]
+                myRobot.throttle(int(params['TH'][0])/100.0)
+            if 'MV' in params.keys():
+                mvparams = params['MV'][0].split(",")
+                #print mvparams[0]+" "+mvparams[1]+" "+mvparams[2]
+                myRobot.move(int(mvparams[0]),int(mvparams[1]),int(mvparams[2]))
+            if 'MO' in params.keys():
+                #print params['MO'][0]
+                myRobot.mode(int(params['MO'][0]))
+            if 'SE' in params.keys():
+                #print params['SE'][0]
+                myRobot.servo(int(params['SE'][0]))
+            if 'RS' in params.keys():
+                self.wfile.write(status)
+                return
+            if 'RA' in params.keys():
+                self.wfile.write(angle)
+                return
+        self.wfile.write('OK')
+        return
+
+    def log_request(self, code=None, size=None):
+        pass   # Do nothing...
+        #print('Request')
+
+
+
+#This class will handles any incoming request from
+#the browser 
+class myHandler(BaseHTTPRequestHandler):
+	
+   #Handler for the GET requests
+   def do_GET(self):
+      if self.path=="/":
+         self.path="brobot/index.html"
+
+      try:
+         #Check the file extension required and
+         #set the right mime type
+
+         sendReply = False
+         binary = False
+         if self.path.endswith(".html"):
+            mimetype='text/html'
+            sendReply = True
+         if self.path.endswith(".jpg"):
+            binary = True
+            mimetype='image/jpg'
+            sendReply = True
+         if self.path.endswith(".png"):
+            binary = True
+            mimetype='image/png'
+            sendReply = True
+         if self.path.endswith(".cur"):
+            binary = True
+            mimetype='image/x-win-bitmap'
+            sendReply = True
+         if self.path.endswith(".wav"):
+            binary = True
+            mimetype='audio/wav'
+            sendReply = True
+         if self.path.endswith(".mp3"):
+            binary = True
+            mimetype='audio/mpeg'
+            sendReply = True
+         if self.path.endswith(".gif"):
+            binary = True
+            mimetype='image/gif'
+            sendReply = True
+         if self.path.endswith(".js"):
+            mimetype='application/javascript'
+            sendReply = True
+         if self.path.endswith(".css"):
+            mimetype='text/css'
+            sendReply = True
+
+         if sendReply == True:
+            #Open the static file requested and send it
+            if binary:
+               f = open(curdir + sep + self.path,'rb')
+            else:
+               f = open(curdir + sep + self.path) 
+            self.send_response(200)
+            self.send_header('Content-type',mimetype)
+            self.end_headers()
+            self.wfile.write(f.read())
+            f.close()
+         return
+
+      except IOError:
+         self.send_error(404,'File Not Found: %s' % self.path)
+
+try:
+    #Create the HTTP to UDP server to send messages to robot
+    ServerThread(HTTP2UDP_PORT,HTTP2UDP).start()
+    #Create a web server and define the handler to manage the incoming requests
+    ServerThread(PORT_NUMBER,myHandler).start()
+    print "Started HTTP2UDP server on port ", HTTP2UDP_PORT
+    print "Started httpserver on port " , PORT_NUMBER    
+    print "Opening browser... wait a moment..."
+    time.sleep(2)
+    url = "http://localhost:8080/brobot/index.html"
+    webbrowser.open(url,new=2)
+    while 1:
+        pass    
+
+except KeyboardInterrupt:
+   print '^C received, shutting down the web server'
+   exit()