https://sites.google.com/site/jrobotpi/
###JRobotPI.java
Java ME 8 Midlet program, is the firmware to control the robot and all sensors, dc motors, servos and utilities modules.
Implements a framework for developers make all robotic applications and extend libraries.
All sensors have an interface implemented in Java, some was converted from Phyton others from Arduino C code.
Don´t have multiples layers for communicate with sensors only use java jdk.dio packages i2cbus, uart and gpio. All native java ME 8 clases was used.
The packages defined are:
com.jcruz.jrobotpi.i2c : enum classes with all commands supported by each i2c connected device or sensor. com.jcruz.jrobotpi.i2c.driver : implemented all commands defined in enum classes. com.jcruz.jrobotpi.gpio.driver : implemented commands defined for gpio connected devices. com.jcruz.jrobotpi.uart.driver : implemented commands defined for uart connected devices. com.jcruz.jrobotpi.http : enum classes with all commands supported by each http connected device or site. com.jcruz.jrobotpi.http.driver : implemented all commands defined in enum classes. com.jcruz.jrobotpi.log : implemented log handler.
Basicly we needs an enum class where with all defined or supported commands and a driver class that implements all commands. With Netbeans IDE 8.0 I can install and run MIdlet JRobotPI.java directly to Raspberry PI, that have installed a Oracle Java ME Embedded 8 for Raspberry Pi Model B.
For now i have interface in java to this devices:
| Device | Interface Type |
|---|---|
| Emic 2 Text-to-Speech module | I2C to UART |
| SC16IS750 I2C/SPI-to-UART IC | I2C |
| Stereo 2.8W Class D Audio Amplifier - I2C Control AGC - TPA2016 will be change by Sparkfun Mono Audio Amp Breakout - TPA2005D1 to avoid interference | I2C |
| VCNL4000 Proximity/Light sensor | I2C |
| BMP180 Barometric Pressure/Temperature/Altitude Sensor | I2C |
| HTU21D Humidity Sensor Breakout | I2C |
| HMC5883L Digital Compass Module Triple Axis Magnetoresistive Sensor Module | I2C |
| Ultrasonic Ranging Detector Mod HC-SR04 Distance Sensor | GPIO |
| HC-SR501 PIR (left) | GPIO |
| HC-SR501 PIR (Right) | GPIO |
| Adafruit 16-Channel 12-bit PWM/Servo Shield - I2C interface | I2C |
| EM406 - GPS receiver | UART |
| Arduino Due (Dc Motors and Wii Remote Control) | I2C |
| Flame Sensor DFR0076 | GPIO |
I plan to work on this in the next days More information see: https://sites.google.com/site/jrobotpi/hardware
All sensors send data to Xively site and in this site I have defined a trigger for PIR_Motion device that listener to changes and send notifications to my Iphone using Prowl for that. https://xively.com/feeds/918735601
You can access all sensors data, using REST commands, I include a light webserver.
###Due_I2C.ino
Arduino DUE program for proxy to I2C (address 0x04)
It implements two callbacks functions
OnRequest: Wii Remote Control and NunChuk bluetooth interface to I2C bus.
OnReceive: Dc Motors interface to I2C bus.
For more info see
Block Diagram: https://sites.google.com/site/jrobotpi/hardware
In the section Wii Remote Control Commands you can see all mapped buttons to commands.
Schematics: https://sites.google.com/site/jrobotpi/hardware/schematics