Basestation

KSURCT basestation code for our robot to compete in the 2016 Mercury Robotics competition.

Credit to https://github.com/TooTallNate/Java-WebSocket for WebSockets source.

Getting Started

• Guaranteed to run in Linux and Windows. Not sure for other OS.
• Download the latest NetBeans and JDK cobundle.
• Locate the Main.java file and protobuf-proto folder via the help of Netbeans.
• Compile and run the program.

Usage

• The GUI contains several components:
  • Motor power levels
  • IR sensor readings
  • Error log
  • IP address box
    • Static IPs are hard-coded.
  • Connect & disconnect buttons
  • Hand servo degree labels
  • Up/Down camera position adjustment sliding scale
  • Left/Right camera position adjustment sliding scale

• Start video streaming with nc.traditional 10.243.81.158 9001 | mplayer -fps 60 -cache 768 - code.
• Connect to the robot by pressing the connect button.
  • Once connected, the error log will be cleared.
• Disconnect from the robot by pressing the Disconnect button.
• When a protobuf packet is received from the robot, the appropriate components are updated to reflect any changes in robot status.
• When a control is pressed, a protobuf packet is sent to the robot.
• To perform a turn, use the Q or E key.
• To perform a zero-point turn, use the A or D key.
• To open the claw, click the "Open Claw" button.

Controls

• The W, A, S, D, Q, E keys control motor power settings.
  • W increases the throttle on both motors
  • A sets up a zero-point left turn
  • S decreases the throttle on both motors
  • D sets up a zero-point right turn.
  • Q decreases the throttle on the left motor.
  • E decreases the throttle on the right motor.
• The L key toggles the headlights of the robot on and off.
  • Current status signified by the button on the GUI
• The Z key causes the robot's arm to launch.
• The V key will increase the wrist angle.
• The C key will decrease the wrist angle.
• The R key causes the robot to initiate the ramp climb sequence.
• The P key will increase the throttle on the right motor.
• The I key will increase the throttle on the left motor.
• The Q key will decrease the throttle on the left motor.
• The E key will decrease the throttle on the right motor.
• The X key will open or close the claw (if it is closed or open, respectively).

Events

• In the case of a disconnection from the robot, the GUI will display an error message and allow a retry.
  • An invalid IP address will result in no action taken by the GUI.