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        <channel>
                <title>Petter Reinholdtsen - Entries tagged robot</title>
                <description>Entries tagged robot</description>
                <link>http://people.skolelinux.org/pere/blog/</link>

        
        <item>
                <title>Debian, the Linux distribution of choice for LEGO designers?</title>
                <link>http://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html</guid>
                <pubDate>Sat, 11 May 2013 20:20:00 +0200</pubDate>
                <description>&lt;P&gt;In January,
&lt;a href=&quot;http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html&quot;&gt;I
announced a&lt;/a&gt; new &lt;a href=&quot;irc://irc.debian.org/%23debian-lego&quot;&gt;IRC
channel #debian-lego&lt;/a&gt;, for those of us in the Debian and Linux
community interested in LEGO, the marvellous construction system from
Denmark.  We also created
&lt;a href=&quot;http://wiki.debian.org/LegoDesigners&quot;&gt;a wiki page&lt;/a&gt; to have
a place to take notes and write down our plans and hopes.  And several
people showed up to help.  I was very happy to see the effect of my
call.  Since the small start, we have a debtags tag
&lt;a href=&quot;http://debtags.debian.net/search/bytag?wl=hardware::hobby:lego&quot;&gt;hardware::hobby:lego&lt;/a&gt;
tag for LEGO related packages, and now count 10 packages related to
LEGO and Mindstorms:&lt;/p&gt;

&lt;p&gt;&lt;table&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/brickos&quot;&gt;brickos&lt;/a&gt;&lt;/td&gt;&lt;td&gt;alternative OS for LEGO Mindstorms RCX. Supports development in C/C++&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/leocad&quot;&gt;leocad&lt;/a&gt;&lt;/td&gt;&lt;td&gt;virtual brick CAD software&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/libnxt&quot;&gt;libnxt&lt;/a&gt;&lt;/td&gt;&lt;td&gt;utility library for talking to the LEGO Mindstorms NX&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/lnpd&quot;&gt;lnpd&lt;/a&gt;&lt;/td&gt;&lt;td&gt;daemon for LNP communication with BrickOS&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/nbc&quot;&gt;nbc&lt;/a&gt;&lt;/td&gt;&lt;td&gt;compiler for LEGO Mindstorms NXT bricks&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/nqc&quot;&gt;nqc&lt;/a&gt;&lt;/td&gt;&lt;td&gt;Not Quite C compiler for LEGO Mindstorms RCX&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/python-nxt&quot;&gt;python-nxt&lt;/a&gt;&lt;/td&gt;&lt;td&gt;python driver/interface/wrapper for the Lego Mindstorms NXT robot&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/python-nxt-filer&quot;&gt;python-nxt-filer&lt;/a&gt;&lt;/td&gt;&lt;td&gt;simple GUI to manage files on a LEGO Mindstorms NXT&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/scratch&quot;&gt;scratch&lt;/a&gt;&lt;/td&gt;&lt;td&gt;easy to use programming environment for ages 8 and up&lt;/td&gt;&lt;/tr&gt;
&lt;tr&gt;&lt;td&gt;&lt;a href=&quot;http://packages.qa.debian.org/t2n&quot;&gt;t2n&lt;/a&gt;&lt;/td&gt;&lt;td&gt;simple command-line tool for Lego NXT&lt;/td&gt;&lt;/tr&gt;
&lt;/table&gt;&lt;/p&gt;

&lt;p&gt;Some of these are available in Wheezy, and all but one are
currently available in Jessie/testing.  leocad is so far only
available in experimental.&lt;/p&gt;

&lt;p&gt;If you care about LEGO in Debian, please join us on IRC and help
adding the rest of the great free software tools available on Linux
for LEGO designers.&lt;/p&gt;
</description>
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        <item>
                <title>Moved the pymissile Debian packaging to collab-maint</title>
                <link>http://people.skolelinux.org/pere/blog/Moved_the_pymissile_Debian_packaging_to_collab_maint.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Moved_the_pymissile_Debian_packaging_to_collab_maint.html</guid>
                <pubDate>Thu, 10 Jan 2013 20:40:00 +0100</pubDate>
                <description>&lt;p&gt;As part of my investigation on how to improve the support in Debian
for hardware dongles, I dug up my old Mark and Spencer USB Rocket
Launcher and updated the Debian package
&lt;a href=&quot;http://packages.qa.debian.org/pymissile&quot;&gt;pymissile&lt;/a&gt; to make
sure udev will fix the device permissions when it is plugged in.  I
also added a &quot;Modaliases&quot; header to test it in the Debian archive and
hopefully make the package be proposed by jockey in Ubuntu when a user
plug in his rocket launcher.  In the process I moved the source to a
git repository under collab-maint, to make it easier for any DD to
contribute.  &lt;a href=&quot;http://code.google.com/p/pymissile/&quot;&gt;Upstream&lt;/a&gt;
is not very active, but the software still work for me even after five
years of relative silence.  The new git repository is not listed in
the uploaded package yet, because I want to test the other changes a
bit more before I upload the new version.  If you want to check out
the new version with a .desktop file included, visit the
&lt;a href=&quot;http://anonscm.debian.org/gitweb/?p=collab-maint/pymissile.git&quot;&gt;gitweb
view&lt;/a&gt; or use &quot;&lt;tt&gt;git clone
git://anonscm.debian.org/collab-maint/pymissile.git&lt;/tt&gt;&quot;.&lt;/p&gt;
</description>
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        <item>
                <title>New IRC channel for LEGO designers using Debian</title>
                <link>http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html</guid>
                <pubDate>Wed, 2 Jan 2013 15:40:00 +0100</pubDate>
                <description>&lt;p&gt;During Christmas, I have worked a bit on the Debian support for
&lt;a href=&quot;http://mindstorms.lego.com/en-us/Default.aspx&quot;&gt;LEGO Mindstorm
NXT&lt;/a&gt;.  My son and I have played a bit with my NXT set, and I
discovered I had to build all the tools myself because none were
already in Debian Squeeze.  If Debian support for LEGO is something
you care about, please join me on the IRC channel
&lt;a href=&quot;irc://irc.debian.org/%23debian-lego&quot;&gt;#debian-lego&lt;/a&gt; (server
irc.debian.org).  There is a lot that could be done to improve the
Debian support for LEGO designers.  For example both CAD software
and Mindstorm compilers are missing. :)&lt;/p&gt;

&lt;p&gt;Update 2012-01-03: A
&lt;a href=&quot;http://wiki.debian.org/LegoDesigners&quot;&gt;project page&lt;/a&gt;
including links to Lego related packages is now available.&lt;/p&gt;
</description>
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        <item>
                <title>First version of a Perl library to control the Spykee robot</title>
                <link>http://people.skolelinux.org/pere/blog/First_version_of_a_Perl_library_to_control_the_Spykee_robot.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/First_version_of_a_Perl_library_to_control_the_Spykee_robot.html</guid>
                <pubDate>Sat, 9 Oct 2010 14:00:00 +0200</pubDate>
                <description>&lt;p&gt;This summer I got the chance to buy cheap Spykee robots, and since
then I have worked on getting Linux software in place to control them.
The firmware for the robot is available from the producer, and using
that source it was trivial to figure out the protocol specification.
I&#39;ve started on a perl library to control it, and made some demo
programs using this perl library to allow one to control the
robots.&lt;/p&gt;

&lt;p&gt;The library is quite functional already, and capable of controlling
the driving, fetching video, uploading MP3s and play them.  There are
a few less important features too.&lt;/p&gt;

&lt;p&gt;Since a few weeks ago, I ran out of time to spend on this project,
but I never got around to releasing the current source.  I decided
today that it was time to do something about it, and uploaded the
source to my Debian package store at people.skolelinux.org.&lt;/p&gt;

&lt;p&gt;Because it was simpler for me, I made a Debian package and
published the source and deb.  If you got a spykee robot, grab the
source or binary package:&lt;/p&gt;

&lt;p&gt;&lt;ul&gt;
&lt;li&gt;&lt;a href=&quot;http://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1.tar.gz&quot;&gt;libspykee-perl_0.0.20101009-1.tar.gz&lt;/a&gt;&lt;/li&gt;
&lt;li&gt;&lt;a href=&quot;http://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1.dsc&quot;&gt;libspykee-perl_0.0.20101009-1.dsc&lt;/a&gt;&lt;/li&gt;
&lt;li&gt;&lt;a href=&quot;http://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1_all.deb&quot;&gt;libspykee-perl_0.0.20101009-1_all.deb&lt;/a&gt;&lt;/li&gt;
&lt;/ul&gt;&lt;/p&gt;

&lt;p&gt;If you are interested in helping out with developing this library,
please let me know.&lt;/p&gt;
</description>
        </item>
        
        <item>
                <title>My first perl GUI application - controlling a Spykee robot</title>
                <link>http://people.skolelinux.org/pere/blog/My_first_perl_GUI_application___controlling_a_Spykee_robot.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/My_first_perl_GUI_application___controlling_a_Spykee_robot.html</guid>
                <pubDate>Wed, 1 Sep 2010 21:00:00 +0200</pubDate>
                <description>&lt;p&gt;This evening I made my first Perl GUI application.  The last few
days I have worked on a Perl module for controlling my recently
aquired Spykee robots, and the module is now getting complete enought
that it is possible to use it to control the robot driving at least.
It was now time to figure out how to use it to create some GUI to
allow me to drive the robot around.  I picked PerlQt as I have had
positive experiences with the Qt API before, and spent a few minutes
browsing the web for examples.  Using Qt Designer seemed like a short
cut, so I ended up writing the perl GUI using Qt Designer and
compiling it into a perl program using the puic program from
libqt-perl.  Nothing fancy yet, but it got buttons to connect and
drive around.&lt;/p&gt;

&lt;p&gt;The perl module I have written provide a object oriented API for
controlling the robot.  Here is an small example on how to use it:&lt;/p&gt;

&lt;p&gt;&lt;pre&gt;
use Spykee;
Spykee::discover(sub {$robot{$_[0]} = $_[1]});
my $host = (keys %robot)[0];
my $spykee = Spykee-&gt;new();
$spykee-&gt;contact($host, &quot;admin&quot;, &quot;admin&quot;);
$spykee-&gt;left();
sleep 2;
$spykee-&gt;right();
sleep 2;
$spykee-&gt;forward();
sleep 2;
$spykee-&gt;back();
sleep 2;
$spykee-&gt;stop();
&lt;/pre&gt;&lt;/p&gt;

&lt;p&gt;Thanks to the release of the source of the robot firmware, I could
peek into the implementation at the other end to figure out how to
implement the protocol used by the robot.  I&#39;ve implemented several of
the commands the robot understand, but is still missing the camera
support to make it possible to control the robot from remote.  First I
want to implement support for uploading new firmware and configuring
the wireless network, to make it possible to bootstrap a Spykee robot
without the producers Windows and MacOSX software (I only have Linux,
so I had to ask a friend to come over to get the robot testing
going. :).&lt;/p&gt;

&lt;p&gt;Will release the source to the public soon, but need to figure out
where to make it available first.  I will add a link to 
&lt;a href=&quot;http://wiki.nuug.no/grupper/robot/&quot;&gt;the NUUG wiki&lt;/a&gt; for
those that want to check back later to find it.&lt;/p&gt;
</description>
        </item>
        
        <item>
                <title>Robot, reis deg...</title>
                <link>http://people.skolelinux.org/pere/blog/Robot__reis_deg___.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Robot__reis_deg___.html</guid>
                <pubDate>Sat, 21 Aug 2010 22:10:00 +0200</pubDate>
                <description>&lt;p&gt;I dag fikk jeg endelig tittet litt på mine nyinnkjøpte roboter, og
har brukt noen timer til å google etter interessante referanser og
aktuell kildekode for bruk på Linux.  Det mest lovende så langt er
&lt;a href=&quot;http://ispykee.toyz.org/&quot;&gt;ispykee&lt;/a&gt;, som har en
BSD-lisensiert linux-daemon som står som mellomledd mellom roboter på
lokalnettet og en sentral tjeneste der en iPhone kan koble seg opp for
å fjernstyre roboten.  Linux-daemonen implementerer deler av
protokollen som roboten forstår.  Etter å ha knotet litt med å oppnå
kontakt med roboten (den oppretter et eget ad-hoc wifi-nett, så jeg
måtte gå av mitt vanlige nett for å få kontakt), og kommet frem til at
den lytter på IP-port 9000 og 9001, gikk jeg i gang med å finne ut
hvordan jeg kunne snakke med roboten vha. disse portene.  Robotbiten
av protokollen er publisert av produsenten med GPL-lisens, slik at det
er mulig å se hvordan protokollen fungerer.  Det finnes en java-klient
for Android som så ganske snasen ut, men fant ingen kildekode for
denne.  Derimot hadde iphone-løsningen kildekode, så jeg tok
utgangspunkt i den.&lt;/p&gt;

&lt;p&gt;Daemonen ville i utgangspunktet forsøke å kontakte den sentrale
tjenesten som iphone-programmet kobler seg til.  Jeg skrev dette om
til i stedet å sette opp en nettverkstjeneste på min lokale maskin,
som jeg kan koble meg opp til med telnet og gi kommandoer til roboten
(act, forward, right, left, etc).  Det involverte i praksis å bytte ut
socket()/connect() med socket()/bind()/listen()/accept() for å gjøre
klienten om til en tjener.&lt;/p&gt;

&lt;p&gt;Mens jeg har forsøkt å få roboten til å bevege seg har min samboer
skrudd sammen resten av roboten for å få montert kamera og plastpynten
(armer, plastfiber for lys).  Nå er det hele montert, og roboten er
klar til bruk.  Må få flyttet den over til mitt vanlige trådløsnett
før det blir praktisk, men de bitene av protokollen er ikke
implementert i ispykee-daemonen, så der må jeg enten få tak i en mac
eller en windows-maskin, eller implementere det selv.&lt;/p&gt;

&lt;p&gt;Vi var tre som kjøpte slike roboter, og vi har blitt enige om å
samle notater og referanser på &lt;a
href=&quot;http://wiki.nuug.no/grupper/robot/&quot;&gt;NUUGs wiki&lt;/a&gt;.  Ta en titt
der hvis du er nysgjerrig.&lt;/p&gt;
</description>
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        <item>
                <title>2 Spykee-roboter i hus, nå skal det lekes</title>
                <link>http://people.skolelinux.org/pere/blog/2_Spykee_roboter_i_hus__n__skal_det_lekes.html</link>
                <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/2_Spykee_roboter_i_hus__n__skal_det_lekes.html</guid>
                <pubDate>Wed, 18 Aug 2010 13:30:00 +0200</pubDate>
                <description>&lt;p&gt;Jeg kjøpte nettopp to
&lt;a href=&quot;http://www.spykee-robot.com/&quot;&gt;Spykee&lt;/a&gt;-roboter, for test og
leking.  Kjøpte to da det var så billige, og gir meg mulighet til å
eksperimentere uten å være veldig redd for å ødelegge alt ved å bytte
ut firmware og slikt.  Oppdaget at lekebutikken på Bryn senter hadde
en liten stabel på lager som de ikke hadde klart å selge ut etter
fjorårets juleinnkjøp, og var villig til å selge for en femtedel av
vanlig pris.  Jeg, Ronny og Jarle har skaffet oss restbeholdningen, og
det blir morsomt å se hva vi får ut av dette.&lt;/p&gt;

&lt;p&gt;Roboten har belter styrt av to motorer, kamera, høytaler, mikrofon
og wifi-tilkobling.  Det hele styrt av en GPL-lisensiert databoks som
jeg mistenker kjører linux.  Firmware-kildekoden ble visst publisert i
mai.  Eneste utfordringen er at kontroller-programvaren kun finnes til
Windows, men det må en kunne jobbe seg rundt når vi har kildekoden til
firmwaren. :)&lt;/p&gt;

&lt;ul&gt;
&lt;li&gt;&lt;a href=&quot;http://en.wikipedia.org/wiki/Spykee&quot;&gt;Wikipedia-oppføring&lt;/a&gt;&lt;/li&gt;
&lt;li&gt;&lt;a href=&quot;http://www.spykeeworld.com/spykee/US/freeSoftware.html&quot;&gt;Nedlasting av firmware-kilden&lt;/a&gt;&lt;/li&gt;
&lt;li&gt;&lt;a href=&quot;http://wiki.nuug.no/grupper/robot&quot;&gt;prosjektwiki hos NUUG&lt;/a&gt;&lt;/li&gt;
&lt;/ul&gt;
</description>
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