Written By Jefferson Fuentes

Introduction:

The Arxterra app has the option of creating custom commands. These custom commands allow for a user defined function, to control the robot, not already preloaded onto the app by default. These commands consists of functions such as a simple switch to incremental sliders.

Requirements:

Spring ’17 SpiderBot is required utilize the Arxterra phone app to control the robot remotely via bluetooth. SpiderBot is also required to provide aerial live video feed capable of covering the entire arena, as defined by end of semester games to other participating robots. The video feed will be accomplished by the bots ability to hoist itself up in the air through use of a grappling system.

Procedure:

Creating custom commands on the Arxterra phone app consists of a few finger taps, navigating through the menus, and selecting the appropriate options. Upon launch of the Arxterra app, the familiar control screen will appear (fig 1). From here, developer mode must be turned on to create the custom commands required. By selecting the menu option, on the top right corner, we come to the toggle option for “Developer Mode” (fig 2).

Fig 1. Arxterra initial launch screen Fig 2. Developer Mode Toggle

After toggling, under the same menu, selecting the gear icon will open another menu. Selecting the “Custom Command & Telemetry Configuration” will navigate to the appropriate window to create the custom commands (fig 3). Once selected, a new window appears (fig 4). This window allows us to add, change order, or edit any custom commands created.

Fig. 3 Custom Command & Telemetry Navigation

Fig 4. Command & Telemetry Options

To create a new command, clicking on the “+” icon will open a menu (fig 5). Here the required type of command can be selected. For SpiderBot, one of the custom commands required is the ability to release a grappling hook upon command. This function would be incorporated using the Boolean command option, single input dual outcome output. When selected, the app automatically generates a default command (fig 6).

Fig 5. Command Selection Fig 6. Default Custom Command

This default command serves no purpose to the robot and must be edited for proper function. To edit, the function to be modified is selected, then the pen icon is clicked, prompting a new window (fig 7), where all parameters will be defined. In this case, SpiderBot requires a command to enable release/launching of a grappling hook, this can be accomplished by implementing a simple switch. The first set of parameters, or properties, consists of the Entity ID is the command ID in HEX, the label, is the name associated with the function, and the default value serves to determine the state of the command upon startup of control panel. The second set determine where the custom command appears/operates in. Both are on as this function is needed on both the app and control panel.

Fig 7. Command Parameters

The app and control panel determine successful custom command implementation. The app will show a new icon, the custom command with all defined parameters (fig 8), and a message “Custom command config valid”. On the control panel, the custom commands will appear in a designated “Custom Controls” box (fig 9).

Fig 8. Arxterra Custom Command Fig 9. Arxterra Mission Control Panel

Resources:

Spring 2017 – ArxRobot Custom Commands Update!!

Introduction:

Requirements:

Procedure:

Like Us!