Skip to content

Latest commit

 

History

History
67 lines (53 loc) · 3.28 KB

README.md

File metadata and controls

67 lines (53 loc) · 3.28 KB
Raw

FTC App Networked Simulator

The Android App is adapted from the FTC SDK with small changes to the FTDI USB serial driver.

The goal of this project is to create a standalone app that will replace the USB connected Modern Robotics hardware (USB Motor Controller, Legacy Motor Controller, USB Servo Controller) with a networked connected computer. This computer will then run a simulation of the controllers and provide a 3d view of a simulated robot. To accomplish this, the FTDI USB to serial driver library file will be removed and replaced with a stub driver that implements the required calls. The old USB calls will then be rerouted to the computer using UDP packets.

Software Used

  • Android Studio
    • Version: 1.2.1.1
  • Eclipse
  • V-Rep Pro EDU
    • Version: 3.2.1
    • Vendor: Coppelia Robotics
  • Java JDK
    • Version: jdk1.8.0_45
  • TCPView (Used to kill process holding port 6500 when pc java program doesn't release it. TODO: fix)
  • Vendor: www.sysinternals.com

Getting Started

Download / Clone

Windows: Download Git for Windows from:

https://windows.github.com

and follow the remaining steps in the Git Shell.

Clone the repo using Git:

git clone https://github.com/HagertyRobotics/ftc_app_networked_simulator

Remember, please use the "onboard" branch as the master branch is still in flux.

What's included

In the repo you'll find the following directories and files.

File/Folder Provides
Android/App Android app cloned from the FTC Robot Controller (Android Studio)
PC/Java PC side simulator. Connects phone to v-rep (Eclipse Project)
PC/V-rep Coppelia Robotics V-rep simulator scene files.
LICENSE.md Project license information.
README.md Details for quickly understanding the project.

Build

  • Use Android Studio to open existing project and point to Android/App.
    • Change PC_IP_ADDRESS define to your PC's address in file: FtcRobotController/src/main/java/com/ftdi.j2xx/D2xxManager.java
    • Compile and run the app
      • Setup the newly found legacy controller with two motors "motor_1" and "motor_2"
      • Save configuration
  • Open PC Path editor and add following directory to PATH variable:
  • C:\Program Files (x86)\V-REP3\V-REP_PRO_EDU\programming\remoteApiBindings\java\lib\64Bit
  • Open V-Rep simulator and open scene file PC/V-rep/FTCRobot.ttt
  • Open Eclipse and import PC/Java/RobotSimulator
    • Compile and Run RobotSimulator
      • Robot Simulator will listen on the socket selected in the GUI for incoming packets from the Phone and forward motor commands to the V-Rep simulator
      • Press the "Start Simulator" button to start the simulation.
  • Open the Driver Control Station App on a 2nd Phone and start ether the TestOp or the TestTankOp commands.
    • The TestTankOp Mode requires a joystick connected with a OTG cable.
    • The TestOp will increment both motors in a loop. This will currently show the bug where the 2nd motor write will overwrite the first and the robot will drive in circles.