amber-java-clients

This repository contains library used to managing drivers located on robot controlled by Amber mediator.

Supported devices

• DriveToPoint by amber-java-drive-to-point - virtual driver used in automatic driving robots to point
• Hitec by amber-java-hitec - servo motor used in robot arm or 3D laser range scanner
• Hokuyo by amber-java-hokuyo - laser range scanner
• Location by amber-java-location - relative robots location
• 9DOF by amber-java-ninedof - sensor stick with accelerometer, magnetometer and gyro
• Roboclaw by amber-java-roboclaw - motor controllers

Requirements

• jdk7 with maven
• protobuf and protoc from protobuf-compiler

How to deploy

• Clone this project.
• mvn install inside project.
• Import project to your favorite IDE.

If you want to use packages, run mvn install ar mvn package inside project.

If project cannot be build in IDE due to import errors, check if target/generated-sources/java is selected as source in every module (if exists).

How to use (maven)

Simply. Add following lines to your projects pom.xml:

<repositories>
    <repository>
        <id>amber-java-clients-mvn-repo</id>
        <url>https://github.com/project-capo/amber-java-clients/raw/mvn-repo</url>
    </repository>
</repositories>

Next, add following selected dependencies:

<dependencies>
    <dependency>
        <groupId>pl.edu.agh.amber.common</groupId>
        <artifactId>amber-java-common</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.drivetopoint</groupId>
        <artifactId>amber-java-drive-to-point</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.hokuyo</groupId>
        <artifactId>amber-java-hokuyo</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.hokuyo-scanner</groupId>
        <artifactId>amber-java-hokuyo-scanner</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.location</groupId>
        <artifactId>amber-java-location</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.maestro</groupId>
        <artifactId>amber-java-maestro</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.ninedof</groupId>
        <artifactId>amber-java-ninedof</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
    <dependency>
        <groupId>pl.edu.agh.amber.roboclaw</groupId>
        <artifactId>amber-java-roboclaw</artifactId>
        <version>1.0-SNAPSHOT</version>
    </dependency>
</dependencies>

How to use (jar)

You can download jars from maven repository. You need to use common part with other jars. Find the latest version in places:

• Common part required
• DriveToPoint part for virtual drive-to-point driver
• Hitec client for hitec servometer
• Hokuyo client for laser range finder
• Hokuyo replacement client used with Hitec instead of standard Hokuyo client
• Location client for location
• Ninedof client for accelerometer, magnetometer and gyro sensors
• Roboclaw client for motor controllers

How to contribute

Clone this repo, setup your environment, using maven. Next, change what you want and make pull request.

Examples

You can find it here.

Motor controllers Roboclaw

Motor speed values is in unit mm/s.

Example code:

AmberClient client = new AmberClient("192.168.1.50", 26233);
RoboclawProxy roboclawProxy = new RoboclawProxy(client, 0);

for (int i = 1; i <= 10; i++) {
    roboclawProxy.sendMotorsCommand(100 * i, 100 * i, 100 * i, 100 * i);
    
    Thread.sleep(500);
}

MotorsCurrentSpeed mcs = roboclawProxy.getCurrentMotorsSpeed();
mcs.waitAvailable();

System.out.println(String.format("Motors current speed: fl: %d, fr: %d, rl: %d, rr: %d",
    mcs.getFrontLeftSpeed(), mcs.getFrontRightSpeed(), mcs.getRearLeftSpeed(), mcs.getRearRightSpeed()));

roboclawProxy.stopMotors();
client.terminate();

9DOF sensors

Values are in units:

• accelerometer - mG
• gyro - °/min
• magnetometer - mGs

Example code:

AmberClient client = new AmberClient("192.168.1.50", 26233);
NinedofProxy ninedofProxy = new NinedofProxy(client, 0);

for (int i = 0; i < 10; i++) {
    NinedofData ninedofData = ninedofProxy.getAxesData(true, true, true);
    ninedofData.waitAvailable();
    
    System.out.println(ninedofData.getAccel().xAxis);
    
    Thread.sleep(10);
}

ninedofProxy.registerNinedofDataListener(10, true, true, true, new CyclicDataListener<NinedofData>() {

    @Override
    public void handle(NinedofData ninedofData) {
        System.out.println(ninedofData.getAccel().xAxis);
    }
});

client.terminate();