C++, Bioloid and Raspberry Pi (v0.2)

This entry is part 3 of 6 in the series Bioloid Workshop

[V.02 updates: AX C++ architecture, core classes diagram and HexaWheels scanning video]

Why C++, Bioloid and Raspberry Pi?

TCPL4thEnglishC++, specially with the great improvements of the last C++11 standard, joins together a great efficiency in performance and a low memory footprint with advanced high level language features, making C++ a great tool for embedding, robotics, programming.

If you want to know how to use C++ very efficiently these two guides will help you:

The JSF air vehicle C++ coding standards ( F-35 fighter aircraft)

– ISO C++ committee’s report on performance

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Bioloid Premium

Bioloid Premium

Bioloid Premium is a wonderful kit for creating legged and wheeled robots, including (here full parts list):

– 18 powerful and versatile AX-12 servos

– an ATMega 2561 (CM-510) or, recently, an ARM STM32F103RE 32bits (CM-530), based controller. Also you can control the AX-12 with the USB2Dynamixel straight from your USB with a FTDI driver.

– And a lot of parts to create the structure of the robot

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RaspberryPi

RaspberryPi

Raspberry Pi is the cheaper and more brilliant conceived SBC (more specifications here):

– Broadcom BCM2835 SoC full HD multimedia applications processor

– 700 MHz Low Power ARM1176JZ-F Applications Processor

– Dual Core VideoCore IV® Multimedia Co-Processor

– 256/512 MB SDRAM

One simple example:

Learning C++


Starting:

C++ is a very powerful but complex programming language, so I think that the better approach is to start step by step, from the most easy features (yes, C++ could be used in an easy way) to the most advanced features it offers. What is C++? I will quote (I try to not explain anything that already is explained), Stroustrup, “his father”, from his book The C++ programming language 3th Edition:

“C++ is a general-purpose programming language with a bias towards systems programming that
– is a better C,
– supports data abstraction,
– supports object-oriented programming, and
– supports generic programming.”

And wikipedia:

C++ (pronounced “see plus plus”) is a statically typed, free-form, multi-paradigm, compiled, general-purpose programming language. It is regarded as an intermediate-level language, as it comprises a combination of both high-level and low-level language features.[3] Developed by Bjarne Stroustrup starting in 1979 at Bell Labs, it adds object oriented features, such as classes, and other enhancements to the C programming language.

Web resources:

If you want more C++ links, these found at JUCE will help you.

Programming -- Principles and Practice Using C++Programming -- Principles and Practice Using C++

Programming — Principles and Practice Using C++

Free books and documents:

– Maintain stability and compatibility with C++98 and possibly with C;
– Improve C++ to facilitate systems and library design, rather than to introduce new features useful only to specific applications;
– Increase type safety by providing safer alternatives to earlier unsafe techniques;
– Increase performance and the ability to work directly with hardware

Books:

Advancing:

In robotics, and embedded programming in general, we will need some advanced knowledge and practices to reach our goals.

Free books and documents:

  • Concurrent programming, threading Our robots we will need to do several actions simultaneously, like perceiving the world with several sensors, moving and deciding what to do to reach is objectives.
  • Communications, the serial port communications functions are used for wireless and wired connections, and we will need to communicate between controllers and with sensors and servos.

Books:

C++ robotics programming

Well, this is really the goal, robotics programming.

As this is a workshop it will follow the creation of the the walker and vehicle Hexapod showed above in the video. This is currently the core architecture and the HexaWheels module (namespace classes):

AX C++ architecture v2

AX C++ architecture v2

And these are the core classes:

todo_signatura

The workshop will include:

– Basics

Like communications with serial port and wireless, using Dynamixels, sensors, … Language features for robotics, like asynchronous communications and threads and… delays!.

– Intermediate

Combination of basics features using sensors (like scanning) and servos (walking motions). For example, scanning with a DMS sensor:

As a simple example:

– Advanced

Advanced perception and behaviours

I think this could very funny, using an advanced sensor like Asus Xtion, to detect certain objects to interact, and create configurable and amusing behaviours.

CM-510 mirocontroller programming

– Tools:

PC, Raspberry Pi and Pandaboard, installation and configuration, tool and projects

– GNU C++, Boost
– Eclipse
– QT 5

The contents will come soon, very soon…

Series Navigation<< Workshop: USB, serial and remote communications with C#So… let’s the Bioloid, C++ and QT games start! >>

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