From ARVP
Contents |
[edit] Sensory Data Interface (SDI)
[edit] People
[edit] Overview
The SDI will be written in Java and its primary purpose is to provide a visual medium through which we can easily view sensory information. Using Java 1.6 Swing components (Java Swing Tutorial), we will display the sensory information from each different robotic sensor (camera, thrusters, imu, digital compass, altimeter, batteries) in a visual manner, using JProgressBars, Charts, Graphs and with graphics so that we can perform basic component testing, and perform basic motion maneuvers with our robot.
A user will be able to open the SDI and control the robot using either their computer keyboard, the OCU remote control, java on screen controls, or through a wii remote. Once the user initiates a command, it will be sent to the robot using our Network Protocol and the embedded computer will determine the correct action to take.
[edit] Goals
The SDI needs to provide a way to quickly and easily visualize the sensor data coming from the sub. Two members of high level software are working to create different objects which can represent sensor values. The members are also tasked with providing some rough sketches of how these components would come together into a unified application that is easy to use.
The sensor values that need to be visualized are:
- Inertial Measurement Unit: Measures acceleration in x, y, z, roll, pitch, yaw.
- Compass: Measures position with respect to roll, pitch, yaw.
- Altimeter: Measures depth.
- Camera: Live video stream, resolution unknown at this point.
- Temperature: Readings from multiple devices need to be displayed.
- E-stop status: Whether the E-stop is on, or off, and what component triggered it.
- Battery status: Current voltage, or percentage of the battery.
- Wiimote values: It might be useful to visualize the data coming in from the wiimote, it has several buttons as well as accellerometers to measure acceleration in varying degrees of freedom.
[edit] Progress
The project has been mostly completed but some work still needs to be done.
