Remote robot control using mobile devices Andrey Litvinov Evgenia Samochadina Renat Valeev

Remote control: target setting

Input Data Nokia Mobile phone Lego Mindstorm NXT Robot Spike LeJos Operating System Java Development Tools 3 brains & 6 hands

Main parts of the work Basic knowledge acquiring Bluetooth connection Robot application Mobile phone application

Using mobile phone we can manage: Motor Control  Smooth moving forward/ backward turning left/right  Tail kick Sensor Monitoring  Touch sensor  Sound sensor  Ultrasonic sensor

How it works… Prerequisite: pairing phone and NXT (code 1234) Bluetooth library JSR82 (device discovery, connection) Protocol: Send (2, 0, Data, Data) Protocol: Receive (1, 0, Data)

How it works… List of commands MOTOR_FORWARD =.. … MOTOR_B =.. MOTOR_C =.. … Send(MOTOR_FORWARD, MOTOR_B); Send(MOTOR_FORWARD, MOTOR_C);

List of commands GET_SENSOR_TYPE =.. CMD_SUBSCRIBE_SENSOR =.. … TOUCH_SENSOR =.. … SENSOR_1 =.. Send(GET_SENSOR_TYPE) Send(TOUCH_SENSOR, No, No, No ) Send( CMD_SUBSCRIBE_SENSOR, SENSOR_1) Send(SENSOR_1, 1) How it works…

What have been easy? Construct a robot (because actually we didn’t do it) Control sensors Control motors What have been difficult? All connected with Bluetooth  Pair devices  Investigate Bluetooth protocol of robot and the way it transmits the data

What we have learnt? Working with Bluetooth Working with NXT robot  Using LeJos for NXT programming  Working with LeJos Bluetooth protocol  Working with sensors  Working with motors  Special features and details about LeJos NXT robot is the best robot in the world!