Package dlife.robot.hemisson

Classes and interfaces that support interaction with a Hemisson robot.

See:
Description

Class Summary

Hemisson	Class for communicating with a Hemisson robot.
HemissonBuzzer	A class for controlling the Hemisson's internal buzzer.
HemissonCamera	A Camera for processing video streamed from Hemisson robot via the dLife VisionServer.
HemissonDifferentialDrive	A class to control the motion of the Hemisson robot.
HemissonIRSensor	A class for reading the Hemisson's infrared (IR) sensors.
HemissonIRSensor.IRSensorDisplay	A display for the values of a HemissonIRSensor.
HemissonLCD	A class for interacting with the HemissonLCD display.
HemissonLightSet	A class for controlling the Hemisson's four programmable lights.
HemissonPlayer	Class for communicating with a simulated Hemission in the Player/Stage system.
HemissonProximitySensor	A class for reading the Hemisson's proximity sensors.
HemissonSonar	A class for reading the Hemisson UltraSonic range sensing module.
HemissonSwitches	A class for reading the 4 switches on the top left side of the Hemisson.
HemissonTextToSpeech	A class for interacting with the Hemisson's Text-To-Speech module.

Package dlife.robot.hemisson Description

Classes and interfaces that support interaction with a Hemisson robot.

Overview

The Hemisson is an education and teaching robot produced by K-Team Mobile Robotics.

Hemisson Setup

1. Complete the Basic dLife Installation.
2. If using Linux:
   • To communicate with the Hemisson via bluetooth you must install the libbluetooth-dev package.
   • To communicate with the Hemisson via a serial cable you must compile the dLifeDist/native/SerialToTCP.c server.
     1. Change into the dLifeDist/native directory.
     2. Use the command: g++ -pthreads -o SerialToTCP SerialToTCP.c

Hemisson Quick Start

1. Complete the Hemisson Setup (once only).
2. Launch the Control Center by double clicking the ControlCenter (Mac/Linux) or ControlCenter.bat (Win) programs in the dLifeDist/UserScripts folder.
3. Select dlife.robot.hemisson.Hemisson in the "Robot" drop down.
4. Click "Controller"
5. Navigate to and choose dLifeDist/examples/dlife/robot/hemisson/HemissonApproach.class in the File Chooser dialog that appears.
6. Switch the Hemisson on in Execution mode (Set Pgm/exec switch to exec).
7. Click "Start Up".
8. Enter the connection information for your Hemisson.
9. Place the Hemisson is on a flat surface where it can move forward toward an obstacle.
10. Click "Run". The Hemisson will move forward until it is near the obstacle. It will then stop and beep for 1 second.

Additional Resources

• The table of classes at the top of this page identifies all of the sensors and effectors that are supported.
• The examples.dlife.robot.hemisson package contains working examples that can be used with a Hemisson.
• See the dlife.robot.gui.controlcenter documentation for information about using the ControlCenter.
• See the Controller class for information on creating controllers.
• See the dlife.vision.cameras package for information about using the dLife vision features.

Using the Hemisson Wireless Camera

Using a Hemisson wireless camera with dLife requires a V4L compatible video capture card and a linux box running the VisionServer. To get started:

1. Install a V4L compatible video capture card in a linux box.
2. Connect the Hemisson Wireless Camera Radio AV Receiver to the capture card.
3. Try the steps outlined in the Quick Start with Video For Linux (V4L) using the Hemisson Camera.
4. Try running the HemissonCameraDrone example.