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  About site: http://www.cs.cmu.edu/~trb/TeamBots/src/JCye/index.html

Title: Programming/Languages/Java/Applications - JCye Cye robot controller software. [Freeware]
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RoboComm

TeamBotsTM Application: JCye

WelcomeWelcome to the JCye information page.This documentation is also included with the TeamBots andJCye distribution in JCye/index.html .Jump to the JCyeSrv API documentation .Download thelatest JCye-only release (Jan 7, 2000).Download theentire TeamBots release (includes JCye).In this document: Introduction Installing Using JCye On the horizon Bugs Troubleshooting Getting Help WebsiteIntroductionWe have developed open source Java software for controlling aCye robot.The software release is composed of two parts, theEDU.cmu.cs.coral.cye package (a Java library) and severalexample programs that use it.This software was developed at CMU as part of theMinnow projectbyBrian Chemel.The software has been tested on Linux and Windows 9x machines. We expect it to work on all of these platforms: AIX HP UX OS2 Solaris SPARC Solaris x86 BSD Irix Linux MacOS Windows 9x Windows NTInstallingFollow these instructionsto install the cye package and JCye applications on your computer.You can follow these same instructions to install the entire TeamBots distribution as well.Required software: make sure you have Java 1.1 or later installed on your computer. The distribution will not run with earlier versions. If you have Java, but aren't sure of the version, type "java -version". You also need unzip to unpack the distribution. You will need gmake if you want to modify and recompile using the included makefiles.Make a directory for the distribution (we'll call it tb).Put the distribution (JCye.zip orTeamBots.zip) in the directory.unzip JCye.zip (or TeamBots.zip). Set your CLASSPATH environment variable to point to the directory where you unzipped the distribution and to the libraries that implement serial communication. So, for example, if you installed the distribution in /home/you/java and you use csh you would set CLASSPATH with the following commands: setenv CLASSPATH /home/you/tb:. setenv CLASSPATH ${CLASSPATH}:/home/you/tb/lib/collections.jar setenv CLASSPATH ${CLASSPATH}:/home/you/tb/lib/Serialio/Serialio.jar setenv CLASSPATH ${CLASSPATH}:/home/you/tb/lib/Serialio/jspComm.jar Be sure the include the ".", it is important. Other shells and/or operating systems use similar commands to set the CLASSPATH. In Windows you can set the CLASSPATH by editing your C:\AUTOEXEC.BAT file as follows: set CLASSPATH=C:\tb;.;C:\tb\lib\collections.jar;C:\tb\lib\Serialio\Serialio.jar;\tb\lib\Serialio\jspComm.jar If you are using a JVM other than Sun's you may need to use some other mechanism to tell it about your CLASSPATH. Set up the serial libraries. To access your computer's serial port JCye uses a commerial machine independent serial I/O package. This package is included with JCye and TeamBots in the the Serialio subdirectory. Here are instructions for each of the OSs we have tested on: Windows 9x: copy the contents of Serialio\Lib\Win32 to the Windows\System directory. Windows NT: copy the contents of Serialio\Lib\Win32 to the Winnt\System32 directory. Linux: setenv LD_LIBRARY_PATH=/home/you/tb/lib/Serialio/Lib/Linux Other OS: consult the Serialio installation notes. Please let us know of your success so we add a description here. Try some of the JCye programs. They are in the JCye directory. See instructions on "Using JCye" below for more info.Using JCyeFirst, download and install the distribution (instructions above).If you are using Windows, we suggest you first make sure your Cye works properly with the Map-N-Zap software provided by Probotics.That will ensure you have all of the physical and radio connectionsworking properly.To start experimenting withJCye, edit one of the programs; JCyePWM.java is a good start.All user-level commands are implemented by the JCyeSrv class, thatis your interface to control of the robot.Look for the code at the begining that establishesa connection to the robot:/*--- initiate connection to robot ---*/JCyeSrv Srv = new JCyeSrv( "COM1", // the device to communicate with 19200, // baud rate (9600 or 19200) JCyeComm.NEW_RADIO, // connection is WIRED, NEW_RADIO or OLD_RADIO JCyeComm.BLACK_ROBOT); // robot ID, depends on colorThe example above would be typical for a Windows configurationwith a recently purchased robot.You need to edit this call to reflect the configuration of yourrobot and computer. The first argument is the name of theserial line device your robot is plugged into on your computer./dev/ttyS0 or /dev/ttyS1 is typical for a Linux box. COM1 or COM2 (no colon) would be standard on a Windows machine.The second argument sets the baud rate for communication.All Cyes now being sold (on or after December 1999) use 19200.The third argument depends on whether your Cye is wired directlyto your computer (unusual) or if it uses a radio connection (standard).Use JCyeComm.WIRED, JCyeComm.NEW_RADIO or JCyeComm.OLD_RADIO as appropriate.For RADIO connections several pauses are inserted into the transmittand receive procedures to ensure the radios have time to warm up.Finally you need to set the ID for your robot. This depends onthe color of your robot, as follows:JCyeComm.ORIGINAL_ROBOT (for older robots using 9600 baud radios),JCyeComm.BLACK_ROBOT (for newer black robots),JCyeComm.ORANGE_ROBOT (for newer orange robots),JCyeComm.YELLOW_ROBOT (for newer yellow robots), orJCyeComm.CHROME_ROBOT (for newer chrome robots).You are now ready to compile and test the program:javac JCyePWM.javajava JCyePWM 100 100If everything worked, your robot should beep and start movingslowly. You should also see text like this:java JCyePWM 100 100Serialio.SerialPortLocal: version 6.6bCopyright (c) 1996,1999 Solutions Consulting, All Rights Reserved.SerialPort class loaded: jspLux86Last X: 483.94221541452254Last Y: -37.45327560447702Last H: 5.459871370376744Last B: 11.54224Last X: 484.59785262422895Last Y: -38.1089128141834Last H: 5.45445483131883Last B: 11.58062Last X: 484.76176192665554Last Y: -38.354776767823296Last H: 5.45445483131883Last B: 11.59981X and Y are the current location of the robot, H is the heading andB is the battery voltage.Take a look at the other example programs in the JCye directory,and the cye packagedocumentation. Pay particular attention to the JCyeSrv class.Enjoy.What's on the horizonYou might be interested in our TeamBotsCye simulation.The API to this simulated robot is slightly different from theinterface to the real Cye robot provided in the cye package.Our next project is to implement the TeamBots API for the realcye robot. This way the same code can run in simulation and onmobile robots.Bugs Windows Error message "Sent only 16 of 17 bytes" is printed out occasionally. For some reason the serial code on Windows boxes reports this problem occasionally. We don't yet know what causes this or if it is a significant issue. Linux No bugs reported yet. Troubleshooting Before attempting to troubleshoot TeamBots, make sure your computer is turned on. If that does not solve the problem, try this set of common solutions:If you get the error message: Can't find class forageor something similar when you try to run the demos, yourCLASSPATH probably does not include "."Try Step 5 of the installation again.If you get the error message: java.lang.NoClassDefFoundError: TBSim/SimulationCanvas at TBSim.TBSim.(TBSim.java:79) at TBSim.TBSim.main(TBSim.java:199)Your CLASSPATH may not point properlyto the /home/you/java directory.Try Step 5 of the installation again.If you get the error message: error: zipfile probably corrupt while trying to unzip the distribution, you probably either got a bad copy while downloading, or your version of unzip is too old. Unzip v5.12 works properly while v5.1 has been known to complain, but still unpack the distribution. The distribution was compressed with Zip v2.1, please let me know if you have this problem.If you get the error message: Can't find class TBSim.TBSimthen your CLASSPATH probably doesn't point properly to the/home/you/java directory. Try Step 5 of the installation again.If you get the error message: java.lang.NoClassDefFoundError: TBSim/SimulationCanvas at TBSim.TBSim.(TBSim.java:79) at TBSim.TBSim.main(TBSim.java:199)Your CLASSPATH may not point properlyto the /home/you/java directory.Try Step 5 of the installation again.This might also be caused by a corrupted downloador unzip operation. Try getting a new copy of the distribution fromthe webpage or just unzipping again. You may have unzipped with the"-a" option, try it without.If you get the error message: Unable to initialize threads: cannot find class java/lang/Threadthen you are probably running Java 1.0.2 instead of Java 1.1. You can check that by typing "java -version".If you get the error message: ./demo: java: not foundmake sure java is in your PATH somewhere, and that Java 1.1 is installedon your system. If the program runs but the source code looks like gibberish,try unzipping again using the -a option (Step 4). This option maynot be available on older versions of unzip or on WinZip. I suggestyou get thereal unzip.Finally, trytyping the contents of the demo file directly as a command line: java TBSim robocup.dsc 511 300Getting HelpIf you have any problems, please checkout theteambots-developer email list archives. If you don't findyour answer there, subscribe and post a message.Another good resource is Probotic's forum.Website The official TeamBots website address ishttp://www.teambots.org.
 

Cye

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[Freeware]

http://www.cs.cmu.edu/~trb/TeamBots/src/JCye/index.html

JCye 2008 October

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Cye robot controller software. [Freeware]

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