Android Based Robotics

8/2/2019 Android Based Robotics

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Android based Robotics

By Eric Gregori


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What is Android

Android is a Operating system created byGoogle for smartphones and tablets

The first Android based phone was released inOctober of 2008

Android based phone sales surpassed Appleand Blackberry in July of 2010


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Android phones outsold Apple andBlackberry in last few months


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Android

phones

3-axis accelerometerGPSCompassCameras800x480 color touchscreensWiFiBluetoothUSB

1GHZ ARM Cortex-A8 cpus

16GB of flash

256MB of RAM


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Android is not just in phones

Archos32 Android based Internet Tables

NOT A CELL PHONE no monthly fees

$149.00

ARM Cortex A8 at 800 MHz with DSP 8GB of flash

VGA Camera

Touch screen, 400x240 pixels (WQVGA), 3.2'' TFTLCD, 16 million colors

WiFi (802.11 b/g/n) + Bluetooth

3-Axis accelerometer


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Interfacing Phone to Robot Light sensors

Simple CDS light sensor held against LCD screen One way ( phone to robot ) Slow communications No electrical connection to phone Low risk

Bluetooth Serial Full duplex communications Fast No electrical connection to phone Low risk

Audio Connect robot to speaker/mic jack on phone Use tones ( aka 1200baud modem type ) Fast enough Electrical connection to phone - high risk


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Android Phone based RoboMagellan

Phone includes:1) GPS + Compass for navigation2) Camera for finding cone3) WiFi or 3G for remote monitoring

Robot has ultrasonic and wisker sensors

Phone interface:

Use basic stamp and audio ( tone ) interface torobot.


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ColorBot

A simple Robot application you can downloadfrom the Android app store.

Color blob tracking using light sensor interfaceto robot.

Simply aim the camera, and touch the imageof the object you want to track


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ColorBot based robotCamera is in back of phone

CDS light sensors

Leftmotor Rightmotor

Motor Drive Motor Drive


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Android OS is Open Source

The Android OS is opens source, available foranyone to download.

Android runs on top of Linux, which of-courseis also Open Source.

This makes Android based phones and devicescompletely open, and EASY to modify/Hack


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Google made it easy

Google encourages people to writeapplications for their phones

You can even sell/distribute your apps on theAndroid Market.

Google provides complete, easy to use toolsfor both Windows and Linux users to writeapplications for their phones.

Google provides TONS of example code


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Android Community

Download Tools and view online docs

http://developer.android.com/index.html

Wiki

http://en.androidwiki.com/wiki/Main_Page
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TMFreescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, C-Ware, mobileGT, PowerQUICC, StarCore, and Symphony are trademarks of Freescale Semiconductor, Inc.,Reg. U.S. Pat. & Tm. Off. BeeKit, BeeStack, CoreNet, the Energy Efficient Solutions logo, Flexis, MXC, Platform in a Package, Processor Expert, QorIQ, QUICC Engine, SMARTMOS, TurboLinkand VortiQa are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. 2010 Freescale Semiconductor, Inc. 13

http://developer.android.com
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Android development is done in Java

The Android tools use Eclipse

The tools include a emmulator to test yourcode on your computer.

The tools include a complete debugger, to testyour code directly on your Android device
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Android releases

1.5 (Cupcake) On 30 April 2009, the official 1.5 (Cupcake) update for Android was

released.

1.6 (Donut) On 15 September 2009, the 1.6 (Donut) SDK was released.

2.0/2.1 (Eclair) On 26 October 2009, the 2.0 (Eclair) SDK was released. On 3 December 2009 the 2.0.1 SDK was released.

On 12 January 2010 the 2.1 SDK was released2.2 (Froyo)3.0 (Gingerbread)
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Froyo Highlites

New Home Screen Exchange security updates Updated camera and gallery Portable hotspot Multiple keyboard languages

Improved performance Performance of the browser has been enhanced using the V8 engine, whichenables faster loading of JavaScript-heavy pages. Dalvik Performance Boost: 2x-5x performance speedup for CPU-heavy code

over Android 2.1 with Dalvik JIT. The graph to the right shows the performance speedup from Android 2.1 to

Android 2.2 using various benchmark tests. For example, LinPack is now morethan 5 times faster.

Kernel Memory Management Boost: Improved memory reclaim by up to 20x,which results in faster app switching and smoother performance on memory-constrained devices.
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JIT ( Just In Time ) compiler


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Android Software development Kit and tools

Android SDK Class Library Developer Tools

dx Dalvik Cross-Assembleraapt Android Asset Packaging Tooladb Android Debug Bridge

ddms Dalvik Debug Monitor Service Emulator and System Images Documentation and Sample Code

Eclipse IDE + ADT (Android Development Tools) Reduces Development and Testing Time Makes User Interface -Creation easier Makes Application Description Easier
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Android SDK Download at: http://developer.android.com/sdk
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LAB: Connecting to your Android Device using ADB


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Opening the SDK/NDK VMWare image

Goto the Android_Training folder on your Desktop

Open the: Ubuntu910_LTIB_Android_SDK_NDK folder

Double-click on: Ubuntu910_10gig.vmx

This will open the Ubuntu910 VMWare image.

I copied it

No

No

Remind me later

Username: freescale Password: freescale
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http://www.imxdev.org/wiki/index.php?title=IMX51_Android_ADB_over_USB

Open a hyperterminal session to the EVK using the serial cable getprop debug.adb.usb - Shows that debug.adb.usb are not set by default setprop persist.service.adb.enable 0 -> disable adb setprop debug.adb.usb 1 - adb will be through USB (Ethernet, use setprop debug.adb.usb 0) setprop persist.service.adb.enable 1 -> enable adb
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My session

# getprop debug.adb.usb

# setprop persist.service.adb.enable 0disabling adb# adb_releaseandroid_usb gadget: high speed config #1: androidPM: Syncing filesystems ... done.Freezing user space processes ...Freezing of user space aborted

Restarting tasks ... done.suspend: exit suspend, ret = -16 (1970-01-01 01:14:59.831596707 UTC)

# setprop debug.adb.usb 1# setprop persist.service.adb.enable 1enabling adb# adb_openadb_releaseadb_openPM: Syncing filesystems ...android_usb gadget: high speed config #1: androiddone.

Freezing user space processes ...Freezing of user space aborted

Restarting tasks ... done.suspend: exit suspend, ret = -16 (1970-01-01 01:15:31.354115082 UTC)
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On the Ubuntu side

Open the Ubuntu910_LTIB_Android_SDK_NDK vmware image

Ubuntu910_10gig.vmxPlug in the USB cable between the PC and the EVK

cd ~/Desktop/android-sdk-linux_86/tools

./adb kill-serversudo ./adb start-server./adb devices

If you do not see your device, you may need to toggle high androidphone in vmware ( look in lower left corner of vmware window ).
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Some adb commands

./adb push

./adb pull./adb logcat./adb sync./adb install

./adb shell./adb devices
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LAB: Android 'Hello World' program


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LAB: Android 'Hello World' programOpen eclipse by clickingSay OK for default workspace


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We are going to create anew project in out defaultworkspace.

The project will be built usingthe Android 2.1 libraries.
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Application name: MyFirstProject

Package name:

com.emgrobotics.MyFirstProject

Overload activity class, to start

our program
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LAB: Android 'Hello World' programIf you get a gen error, just close then re -open Eclipse


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LAB: Android 'Hello World' programRight click on the project, and open the project properties.
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LAB: Android 'Hello World' programThis is how to select a debug target, in our case it will default to a device.


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LAB: Android 'Hello World' programTo run application on target,Highlite project, select run


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List of Files for an Android Application

The following list describes the structure and files of an Android application. Many of these files can be built for you (or stubbed out) bythe android tool shipped in the tools/ menu of the SDK.

MyApp/

AndroidManifest.xml (required)Advertises the screens that this application provides, where they can be launched (from the main programmenu or elsewhere), any content providers it implements and what kind of data they handle, where theimplementation classes are, and other application-wide information. Syntax details for this file are described inThe AndroidManifest.xml File.

src/ /myPackagePath/.../MyClass.java (required) This folder holds all the source code files for your application, inside the

appropriate package subfolders. res/ (required) This folder holds all the resources for your application. Resources are external data files or description files that

are compiled into your code at build time. Files in different folders are compiled differently, so you must put theproper resource into the proper folder. (See Resources for details.) anim/

animation1.xml(optional) Holds any animation XML description files that the application uses. drawable/

some_picture.pngsome_stretchable.9.pngsome_background.xml

... (optional) Zero or more files that will be compiled to android.graphics.drawable resources. Files can be image files(png, gif, or other) or XML files describing other graphics such as bitmaps, stretchable bitmaps, or gradients. Supported

bitmap file formats are PNG (preferred), JPG, and GIF (discouraged), as well as the custom 9-patch stretchable bitmapformat.
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List of Files for an Android Application

layout/ screen_1_layout.xml ... (optional) Holds all the XML files describing screens or parts of screens. Although you could create

a screen in Java, defining them in XML files is typically easier. A layout file is similar in concept to anHTML file that describes the screen layout and components. See User Interface for moreinformation about designing screens, and Available Resource Types for the syntax of these files.

values/ arrays classes.xml

colors.xml dimens.xml strings.xml styles.xml values.xml (optional) XML files describing additional resources such as strings, colors, and styles. The naming,

quantity, and number of these files are not enforced--any XML file is compiled, but these are the

standard names given to these files. However, the syntax of these files is prescribed by Android,and described in Resources.

xml/ (optional) XML files that can be read at run time on the device. raw/ (optional) Any files to be copied directly to the device.
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LAB: Debugging using ADB


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Some ADB Commands

adb logcat Or from the shell: logcat

adb logcat -b radio adb logcat b events adb logcat b main

adb shell dmesg

To redirect stdout to log file

$ adb shell stop $ adb shell setprop log.redirect-stdio true $ adb shell start
http://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Pagehttp://en.androidwiki.com/wiki/Main_Page


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Android Based Robotics

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