leka / moti

Everything you need to make your own Moti

Moti Readme

Table of Contents generated with DocToc

• About
  • What is Moti
  • Why Github?
  • Is Moti open source and/or open hardware
• How to...
  • How to install
  • How to use
  • How to make your own Moti
• Contributing
  • How can I help?
  • To do - Work flow
  • Branches
• Copyright and License

About

Websites

The company behind Moti is called Leka, you can visit our website here: We Are Leka!.

Soon, a website just for Moti will be available! Discover Moti

What is Moti

Moti is a new kind of interactive smart toy: it's a spherical robot specially designed for children with communication and social disabilities.

Why Github?

At first, we wanted to keep the code for ourselves. But then we thought "hey! our project is great, but wouldn't it be better if a lot of people could fork it, add their modifications, features, improvements, and then share it back to the community?"

For us, the answer is an absolute YES! We want people to be able to look at our code, use it for their projects, use it to build their own Moti and then get back to us to improve the awesomeness for a better world today!

Is Moti open source and/or open hardware

Short answer: yes.

Long answer: yes, Moti's software is and will continue to be open source. Reasons are numerous, but the three main reasons are:

• we love open source, we use it constantly, we use GPL libraries, we want to keep that going on
• we truly believe we can create a community around our project, composed of parents, developers, researchers, doctors, carers
• because we just want to

For the hardware, things are a little different. Today, we use Arduino as our prototype platform. The documentation to build your own Moti is a little outdated and will be updated soon. It will be available for anyone who wants to build it's own Moti. If we have enough time, we will also offer a way to download or order 3D printed pieces to assemble the robot.

In the meantime we are working on a more robust, more powerful, more sensors prototype. We haven't decided yet if this new version will be open hardware, but we are currently looking and the pros and cons.

How to...

How to install

The full procedure is detailed in INSTALL.md. It has been written for beginners as well as for advanced hackers.

How to use

The full procedure on how to use everything you've just installed is described in USE.md.

How to make your own Moti

Moti is currently based on Arduino. That's why it is totally open hardware!

Bill of Materials

• Arduino Mega2560 - buy it here
• Motor Shield - buy it here
• 6DOF IMU Shield- buy it here
• Motors (x2)- buy it here
• Extended Brackets (x2)- buy it here
• Wheels (x2)- buy it here
• Led (x1/x2)- buy it here
• Wires - buy it here
• 9v Batteries (x2) - buy it in your local retail store
• Bluetooth Module - buy it here

The chassis is not yet ready to be 3D-printed, we need your help for that.

The Arduino Mega2560 is becoming a little tight to suit our power and memory needs. We are currently benchmarking different alternatives. If you know anything about embedded Linux, please email us.

Contributing

How can I help?

Help is always more than welcome. If you want to take part in this project, please, make sure you read our Contributing guidelines.

Work flow/To do list

We use waffle.io to manage our to do list and our work flow. Of course, Github issues can also be used.

To know what we are working on and what needs to be done, you can click on the following link:

Branches

IMPORTANT: Our model is based on A successful Git branching Model. PLEASE, take the time to read it carefully before starting. We don't want you to mess things up! :)

• master is the stable branch for production.
• dev (origin HEAD) is the development branch for unit/lab tests and behavior development. If the lab tests are concluding, a pull request to the master can be made.
• feature branches are transitory branches used to develop new features to incorporate to the dev branch. When the feature is bug free, a pull request can be made to merge the concluding results inside the dev branch.
• oldies branch keeps all the old code and libraries we used for the first prototype. It is deprecated now but could be helpful for beginners.

##Copyright and License

Moti, a free, as in speech, robotic spherical mobile robot for children with autism.

Copyright (C) 2013 Ladislas de Toldi (ladislas at weareleka dot com)

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see [http://www.gnu.org/licenses/].

moti's Issues

output accelerometer values

we need to make sure the values are coherent.

this will also confirme #43

Create a behavior with only Discover the world

Sensors module with a thread

Implement time in DriveSystem

For now, DriveSystem methods only set the direction and speed of the robot, but no duration.

I think it would be great to be able to do:

robot.go(FORTH, 180, 2000); // the robot goes forth for 2 seconds.

add shine(R, G, B) method in Led Module

Calling Light::fade() overflows the WORKING_AREA of the calling thread

By just calling the following over and over:

Light::fade(HEART, Color::Black, Color::BluePure, 500);
Light::fade(HEART, Color::Black, Color::Orange, 500);
waitMs(1000);

eventually the program crashes... Might have to do with the Queue thing.

Implement angle in DriveSystem

Same as #47 but with angle for `spin()``

It would be great to do:

robot.spin(RIGHT, 180, 540); // the robot does a spin a 540° (1,5 rotation)

Light::fade() needs to have a waitMS after the last call

if the the last fade is 2 second we need a waitMs(2000) to give it time to complete.

That should not happen. We need to fix this.

behavior - stabilize

implement RTOS DataAnalyser class

implement the sensor analyser to find pattern in the sensors' data

take deep look at the Light Module

wp-melki

est-ce qu'on peut la supprimer ? :)

try travis-ci for continuous integration

drone.io is working but should try travis-ci to compare

Debug test/serial-control

due to recent changes in the API, it doesn't work.

need to cleanup and make it work.

Integration Test - Sensors + Heart

trying to integrate the 2 sensors threads 908b289 and the heart thread e811dcc

there may be some delay() issues due to the use of delayMicroseconds() and not chThdSleepMicroseconds().

behavior - afraid

GanttStart: 2020-01-02
GanttDue: 2020-03-03

create sleep thread

trying to make Moti snore while sleeping

Led::fade() issues with value of 255.

must investigate.

Add get data with index in Sensors module

Bug with Light::fade()

It seems like Light::fade() doesn't do great when asked to go backward and forward.

I'll try to reimplement the last version to make some tests.

remove Configuration.h

Make a 3D printed chassis

We are currently using wood, which is not ideal :)

Add example behaviour

Same as the module example in #78, will be easier to get started

Update ChibiOS/RT to 2.6.5

Implement isShaken detection

isShaken() and _isShaken are available but the detection is not yet implemented.

https://github.com/WeAreLeka/moti/blob/dev/lib/Moti/Moti.cpp#L56

implement RTOS Behavior class

improve fade() between ColorNames

some irregularities
must investigate

Add heart beat to ShakeToStab while sleeping

create a Conf.h file for everything

behavior - happy

implement RTOS DriveSystem class

Implement debug system

Currently we are using Serial.print() for debugging.

We need a debug system that can be turned off when not in used to save space.

behavior - seeking interaction

Add Example Module

add example module one can copy to start building his own.

Led::fade() types improvement

the types used need more consistency and casting.

behavior - stuck

Light::fade() doesn't seem to work backward

When trying to fade(Blue, Black, 1000) from blue to black, it doesn't work.

Write tests

We need to write tests for every lib/module, just the bare minimum, to keep track of API changes and to make sure stuff compiles.

Add time to isShaken()

Try and test i2c with accelerometer

it seems to be working

heart thread should use ChibiOS "delays"

for testing we used Arduino delay() function which is not compatible with chibiOS

need to use the chibiOS chThdSleep() function.

improve fade() with slice duration

Sensors with RTOS not working

Using the sensors class in a thread doesn't give any results, no output are serial printed.

the strange thing is that everything works fine with the motors.

must investigate

test heart + sleep thread

both should be working great with a led for each one

implement RTOS Led class

accelerate/decelerate

maybe it would be better to create one ore two separates methods to accelerate or decelerate.

Add continuous integration testing

As the libs and API are currently changing a lot, compiling every behaviors/app is cumbersome and time consuming.

Using CI save us time and help us focus on what's not working.

Please note that compilation doesn't mean that it will work on the robot...

improve heart thread

heart should be beating like a real one

Apply consistent methode naming convention to the modules

Right now, depending on the module, the naming conventions differs.

We should have:

• Module::init() - to initialise the thread
• Module::start() - to start what the thread must do
• Module::stop() - to stop what the thread must do

YPR sensor values are not good

for some strange reason, the gyroscope values are not as expected.

must investigate