Let's Make Robots!

Annoying servo jitters (resolved?)

I noticed some extreme jerkiness between the ardbot's pan/sweep servos and any interaction with the bluetooth modem. My original code was using the Servo library that ships with the Arduino IDE. Switching to the SoftwareServo library (see http://www.arduino.cc/playground/ComponentLib/Servo) seemed to resolve the jitters....although I can't really explain why at this point.

Reading characters/strings with arduino serial port

Finally, I can send and receive messages between the ardbot and my pc, over bluetooth. This post on the Arduino forum was very helpful:


Arduino, Bluetooth, Linux continued....

Bluetooth, java, Linux - seem to be working together in harmony now. Some things I learned along the way regarding the RXTX java library and Linux com ports in general:

By default, only the root user has access to read/write the serial ports on the system. So if I take the sample code from RXTX I've attached called FindPorts.java and run it from the command line with my user account it will not list any ports. This code was lifted straight from the RXTX site. I've packaged it in a jar file for ease of use from the command line:

Arduino, Bluetooth, Linux

Back to work on the Ardbot. I've decided to build my control panel competely in java/JavaFX on Linux. One challenge was getting my Bluetooth connectivity going on Linux with this configuration:

  • Kensington USB Bluetooth dongle on Fedora 11 PC
  • Sparkfun  Bluetooth modem on robot

My goal will be to control the robot from a gamepad controller attached to the PC, wirelessly over the Bluetooth link.

PC interface, wireless navigation/control, live video!!
Using a
Still a work in progress. I'm just testing out the various subsystems (wireless, camera pan & tilt, tracks, IR distance sensor). I've attached some pictures of … Read more