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Last updated 7 years ago

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Lupe Robot

Architecture

Speech To Text
No debes tardarte mas de dos segundos

Shell Command

User Input

Sliders?

hochob@server:~$ sudo pip3 install pyuserinput
The directory '/home/hochob/.cache/pip/http' or its parent directory is not owned by the current user and the cache has been disabled. Please check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.
The directory '/home/hochob/.cache/pip' or its parent directory is not owned by the current user and caching wheels has been disabled. check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.
Collecting pyuserinput
  Downloading PyUserInput-0.1.11.tar.gz
Collecting python-xlib (from pyuserinput)
  Downloading python_xlib-0.19-py2.py3-none-any.whl (119kB)
    100% |████████████████████████████████| 122kB 774kB/s 
Requirement already satisfied: six>=1.10.0 in /usr/lib/python3/dist-packages (from python-xlib->pyuserinput)
Installing collected packages: python-xlib, pyuserinput
  Running setup.py install for pyuserinput ... done
Successfully installed python-xlib-0.19 pyuserinput-0.1.11
hochob@server:~$

Speech To Text

hochob@server:~$ sudo apt-get install  portaudio19-dev
hochob@server:~$ sudo apt-get install libportaudio2
hochob@server:~$ sudo apt-get install libasound-dev
hochob@server:~$ sudo apt-get install python-dev

hochob@server:~/CodeLabs/ChichenItza/stt$ sudo pip install SpeechRecognition
The directory '/home/hochob/.cache/pip/http' or its parent directory is not owned by the current user and the cache has been disabled. Please check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.
The directory '/home/hochob/.cache/pip' or its parent directory is not owned by the current user and caching wheels has been disabled. check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.
Collecting SpeechRecognition
  Downloading SpeechRecognition-3.6.3-py2.py3-none-any.whl (31.8MB)
    100% |████████████████████████████████| 31.8MB 52kB/s 
Installing collected packages: SpeechRecognition
Successfully installed SpeechRecognition-3.6.3
hochob@server:~/CodeLabs/ChichenItza/stt$

hochob@server:~/CodeLabs/ChichenItza/stt$ sudo pip3 uninstall pyttsx
hochob@server:~/CodeLabs/ChichenItza/stt$ git clone https://github.com/westonpace/pyttsx.git
Cloning into 'pyttsx'...
remote: Counting objects: 198, done.
remote: Total 198 (delta 0), reused 0 (delta 0), pack-reused 198
Receiving objects: 100% (198/198), 69.16 KiB | 0 bytes/s, done.
Resolving deltas: 100% (102/102), done.
Checking connectivity... done.
hochob@server:~/CodeLabs/ChichenItza/stt$ cd pyttsx
hochob@server:~/CodeLabs/ChichenItza/stt/pyttsx$ sudo python3 setup.py install

Sync

cvlc --no-video-title-show --start-time 1 --stop-time 5 /home/hochob/Videos/BigBuckBunny.mp4 vlc://pause &
echo "hola mundo" | espeak -ves-la
cvlc vlc://play &

(cvlc --no-video-title-show --start-time 1 --stop-time 5 /home/hochob/Videos/BigBuckBunny.mp4 vlc://pause &) && (sleep 5 && cvlc vlc://play) &
echo "Hola a todos, bienvenidos a Intel" | espeak -v es-la -a 200
cvlc vlc://play &

#!/bin/sh

cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "Hola a todos, bienvenidos a Intel" | espeak -v es-la -a 200
cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "Como pueden ver, por lo que traigo en el pecho" | espeak -v es-la -a 200
cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "Yo funciono con la plataforma Intel Édison, que es una de las tantas cosas que hacemos en Intel" | espeak -v es-la -a 200
cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "Espero que les guste el recorrido tanto como a mí" | espeak -v es-la -a 200
cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "Por lo pronto, le cederé la palabra a mis compañeros humanos" | espeak -v es-la -a 200
cvlc --no-video-title-show --fullscreen /home/hochob/Selfies/latest.mp4 &
echo "No, gracias a ti" | espeak -v es-la -a 200
pkill vlc

Development

Eclipse Compilation

Same as Wrist Band

Apps

Putty
Bluetooth SPP Tools Pro

Intel IoT SDK

pymelab@workstation:~/Descargas/l_iss_iot_p_2016.4.008$ export PATH=$PATH:/home/pymelab/Descargas/jdk1.8.0_121/bin/
pymelab@workstation:~/Descargas/l_iss_iot_p_2016.4.008$ /opt/intel/ISS/iss-iot-launcher

Usability

• Easy Guide (Pending) o Robot

Connection

USB Cable
Mario Robot 192.168.1.102
- Ssh: root, inteledison

3 modes

Arms, Legs
Predetermined Movements English
Predetermined Movements Spanish

MoveStop to restart Mario Robot

Files 1. MotorsandServos Binary 2. SPP-Loopback.py (Only Testing) 3. btup.sh (Bluetooth Pair Process Always) 4. SPP-pipe-out.py (Used by btup.sh)

OS Version

User Yocto 2.1, 3.5 has an issue with Bluetooth

Sequence

Battery turn on arms (switch located at the right side of the robot)
- Edison powered on
Turn on Speakers
Turn on Tablet Bluetooth
Run btup.sh under Intel Edison
- Make btup.sh
Run Bluetooth SPP Pro under Tablet
- Connect to Edison Bluetooth Device
- Go to Keyboard Mode
Run MotorsandServos Binary under Intel Edison
Battery turn on legs (Left side of the robot)
Insert Heart
Tablet

Automation

One Time Configuration

Pair Intel Edison and Mobile Device

Poky (Yocto Project Reference Distro) 1.6.1 edison ttyMFD2

edison login: root
Password:
root@edison:~# python SPP-loopback.py &
[1] 327
root@edison:~# rfkill unblock bluetooth
root@edison:~# bluetoothctl
[NEW] Controller 98:4F:EE:03:78:89 edison [default]
[NEW] Device 00:16:D4:FA:F6:20 Project Tango Tablet Developmen
[bluetooth]# agent KeyboardDisplay
Agent registered
[bluetooth]# default-agent
Default agent request successful
[bluetooth]# scan on
Discovery started
[CHG] Controller 98:4F:EE:03:78:89 Discovering: yes
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[bluetooth]# pair 40:78:6A:26:4A:C2
Attempting to pair with 40:78:6A:26:4A:C2
[CHG] Device 40:78:6A:26:4A:C2 Connected: yes
Request confirmation
[agent] Confirm passkey 160981 (yes/no): yes
[CHG] Device 40:78:6A:26:4A:C2 Modalias: bluetooth:v001Dp1200d1436
[CHG] Device 40:78:6A:26:4A:C2 UUIDs:
        00001105-0000-1000-8000-00805f9b34fb
        0000110a-0000-1000-8000-00805f9b34fb
        0000110c-0000-1000-8000-00805f9b34fb
        0000110e-0000-1000-8000-00805f9b34fb
        00001112-0000-1000-8000-00805f9b34fb
        00001116-0000-1000-8000-00805f9b34fb
        0000111f-0000-1000-8000-00805f9b34fb
        0000112f-0000-1000-8000-00805f9b34fb
        00001132-0000-1000-8000-00805f9b34fb
        00001200-0000-1000-8000-00805f9b34fb
        00001800-0000-1000-8000-00805f9b34fb
        00001801-0000-1000-8000-00805f9b34fb
[CHG] Device 40:78:6A:26:4A:C2 Paired: yes
Pairing successful
[bluetooth]# discoverable on
Changing discoverable on succeeded
[CHG] Controller 98:4F:EE:03:78:89 Discoverable: yes
[bluetooth]# trust 40:78:6A:26:4A:C2
[CHG] Device 40:78:6A:26:4A:C2 Trusted: yes
Changing 40:78:6A:26:4A:C2 trust succeeded
[CHG] Device 40:78:6A:26:4A:C2 RSSI: -55
[bluetooth]# exit

Start SPP pro and connect

root@edison:~# NewConnection(/org/bluez/hci0/dev_40_78_6A_26_4A_C2, 10)
root@edison:~#

Demo Configuration

Configuration

root@edison:~# opkg update
root@edison:~# opkg install git

root@edison:~/CodeLabs/Hochob/LupeRobot# bluetoothctl 
root@edison:~/CodeLabs/Hochob/LupeRobot# cd /lib/systemd/system
root@edison:/lib/systemd/system# vi luperobot.service

[Unit]
Description=Lupe Robot 
After=sys-subsystem-net-devices-%i.device

[Service]
ExecStart=/bin/bash /home/root/CodeLabs/Hochob/LupeRobot/bluetoothlt.sh  
Restart=always
RestartSec=10 

[Install]
Alias=LupeRobot 
WantedBy=multi-user.target

root@edison:/lib/systemd/system# systemctl daemon-reload
root@edison:/lib/systemd/system# systemctl --system enable luperobot
root@edison:/lib/systemd/system# systemctl start luperobot

root@edison:~# sdptool browse F8:CF:C5:D4:CB:BC | grep Channel
    Channel: 2
    Channel: 3
    Channel: 4
    Channel: 19
    Channel: 5
    Channel: 12
root@edison:~#

Bluetooth Configuration

root@edison:~# ./btup.sh 
[NEW] Controller 98:4F:EE:03:78:89 edison [default]
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[NEW] Device F8:CF:C5:D4:CB:BC Nexus 6
[NEW] Device 00:16:D4:FA:F6:20 Project Tango Tablet Development
[bluetooth]# discoverable on
[bluetooth]# quit
[DEL] Controller 98:4F:EE:03:78:89 edison [default]
[NEW] Controller 98:4F:EE:03:78:89 edison [default]
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[NEW] Device F8:CF:C5:D4:CB:BC Nexus 6
[NEW] Device 00:16:D4:FA:F6:20 Project Tango Tablet Developmen
[bluetooth]# connect 40:78:6A:26:4A:C2
Attempting to connect to 40:78:6A:26:4A:C2
[bluetooth]# quit
[DEL] Controller 98:4F:EE:03:78:89 edison [default]
root@edison:~# removing pipe file

making pipe

NewConnection(/org/bluez/hci0/dev_F8_CF_C5_D4_CB_BC, 10)
waiting to open pipe


root@edison:~#

root@edison:~# ./MotorsAndServos 
1
enter recv loop

resetAll
servosStop
moveStop
Asking in 7... 
Asking in 6... 
Asking in 5... 
Asking in 4... 
Asking in 3... 
Asking in 2... 
Asking in 1... 
Go!
resetAll
servosStop
moveStop
Heart connected 
received: 00

Backup

#!/bin/sh
rfkill unblock bluetooth
sleep 2
bluetoothctl << EOF
discoverable on
EOF
sleep 2
bluetoothctl << EOF
connect 40:78:6A:26:4A:C2
EOF
sleep 2

amixer -c 2 cset numid=5 30

python SPP-pipe-out.py &

root@edison:~# amixer -c 2 cset numid=5 30
numid=5,iface=MIXER,name='Speaker Playback Volume'
  ; type=INTEGER,access=rw---R--,values=2,min=0,max=37,step=0
  : values=30,30
  | dBminmax-min=-37.00dB,max=0.00dB
root@edison:~#

root@edison:~# bluetoothctl
[NEW] Controller 98:4F:EE:03:78:89 edison [default]
[NEW] Device 00:16:D4:FA:F6:20 Project Tango Tablet Developmen
[bluetooth]# scan on
Discovery started
[CHG] Controller 98:4F:EE:03:78:89 Discovering: yes
[bluetooth]# reboot
Invalid command
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[bluetooth]# eit
Invalid command
[bluetooth]#

[DEL] Device 40:78:6A:26:4A:C2 XT1008
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[bluetooth]# connect 40:78:6A:26:4A:C2
Attempting to connect to 40:78:6A:26:4A:C2
[CHG] Device 40:78:6A:26:4A:C2 Connected: yes
[CHG] Device 40:78:6A:26:4A:C2 Modalias: bluetooth:v001Dp1200d1436
[CHG] Device 40:78:6A:26:4A:C2 UUIDs:
        00001105-0000-1000-8000-00805f9b34fb
        0000110a-0000-1000-8000-00805f9b34fb
        0000110c-0000-1000-8000-00805f9b34fb
        0000110e-0000-1000-8000-00805f9b34fb
        00001112-0000-1000-8000-00805f9b34fb
        00001116-0000-1000-8000-00805f9b34fb
        0000111f-0000-1000-8000-00805f9b34fb
        0000112f-0000-1000-8000-00805f9b34fb
        00001132-0000-1000-8000-00805f9b34fb
        00001200-0000-1000-8000-00805f9b34fb
        00001800-0000-1000-8000-00805f9b34fb
        00001801-0000-1000-8000-00805f9b34fb
[CHG] Device 40:78:6A:26:4A:C2 Paired: yes
Connection successful
[NEW] Device 08:DF:1F:E6:A2:3E 08-DF-1F-E6-A2-3E
[bluetooth]#
[DEL] Device 40:78:6A:26:4A:C2 XT1008
[NEW] Device 40:78:6A:26:4A:C2 XT1008
[bluetooth]# connect 40:78:6A:26:4A:C2
Attempting to connect to 40:78:6A:26:4A:C2
[CHG] Device 40:78:6A:26:4A:C2 Connected: yes
[CHG] Device 40:78:6A:26:4A:C2 Modalias: bluetooth:v001Dp1200d1436
[CHG] Device 40:78:6A:26:4A:C2 UUIDs:
        00001105-0000-1000-8000-00805f9b34fb
        0000110a-0000-1000-8000-00805f9b34fb
        0000110c-0000-1000-8000-00805f9b34fb
        0000110e-0000-1000-8000-00805f9b34fb
        00001112-0000-1000-8000-00805f9b34fb
        00001116-0000-1000-8000-00805f9b34fb
        0000111f-0000-1000-8000-00805f9b34fb
        0000112f-0000-1000-8000-00805f9b34fb
        00001132-0000-1000-8000-00805f9b34fb
        00001200-0000-1000-8000-00805f9b34fb
        00001800-0000-1000-8000-00805f9b34fb
        00001801-0000-1000-8000-00805f9b34fb
[CHG] Device 40:78:6A:26:4A:C2 Paired: yes
Connection successful
[NEW] Device 08:DF:1F:E6:A2:3E 08-DF-1F-E6-A2-3E
[bluetooth]#