Institute for Personal Robots in Education -- One Year On

1
Myro Tutorial
The Institute for Personal Robots in
Education Prof. Doug Blank, Bryn Mawr
College Dr. Jay Summet, Georgia Institute of
Technology
2
IPRE Pilot Hardware KitFeaturing Parallaxs
Scribbler

• 6 Light sensors
• 7 IR sensors
• Stall sensor
• Speaker
• 5 LEDs
• 2 motors
• Bluetooth wireless
• Camera
• Gamepad

3
Using Myro

1. Install software on any computer (Mac, Linux, or
   Windows)
2. Establish Bluetooth connection (via a Serial
   port)
3. Start Python
4. Load Myro
5. Initialize connection with robot
6. Have fun!

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1. Install software
Myro
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2. Serial Connection over Bluetooth (com4)
Serial Bluetooth Adapter
Myro
USB Bluetooth Adapter
6
3. Start Python (IDLE)
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4. Load Myro

• gtgtgt from myro import

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5. Initialize connection to robot

• gtgtgt from myro import
• gtgtgt init(com4)
• gtgtgt

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6. Have Fun!

• gtgtgt gamepad()

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Gamepad controls

• Pad Action
• ------ -------
• Left/Right turnLeft() and turnRight()
• Up/Down forward() and backward()
• Button Action
• ------ -------
• 1 takePicture()
• 2 beep(.25, 523)
• 3 beep(.25, 587)
• 4 beep(.25, 659)
• 5 speak('Hello. My name is Scribby.')
• 6 speak('Ouch! I'm a sensitive
  robot.')
• 7 speak('I'm hungry.')
• 8 speak('Good bye, for now.') and
  stop()

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Manual Control

• gtgtgt from myro import
• Myro, (c) 2008 Institute for Personal Robots in
  Education
• See http//www.roboteducation.org/ for more
  information
• Version 2.6.5, ready!
• gtgtgt init()
• Waking robot from sleep...
• Hello, I'm Scribby!
• gtgtgt gamepad()

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5
3
7
8
Forward
2
4
Left
Right
Back
1
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Lets get Personal!

• Name your robot
• gtgtgt setName(Fifi)
• gtgtgt setName(Robbie)
• gtgtgt setName(Toaster)
• gtgtgt setName(Bob)

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Challenges

1. Is there Life on Mars?
2. Build a Dancing Robot
3. Build a Robo Cockroach

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Challenge 1Is there Life on Mars?

• Mars is the center of the room
• There is a picture of an alien in the mountains
• Manually drive your robot to Mars
• Photograph the specimen
• Is there life on mars?

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Its alive!
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Challenge 2Build a Dancing Robot
www.blogguelph.com
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Movement

• forward(speed, seconds)
• gtgtgt forward(1, 2.3)
• backward(speed, seconds)
• gtgtgt backward(.5, 4.6)
• turnLeft(speed, seconds)
• gtgtgt turnLeft(1, .3)
• turnRight(speed, seconds)
• gtgtgt turnRight(1, .6)

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Dancing

• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)

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Dancing

• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)
• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)

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Square Dancing

• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)
• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)
• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)
• gtgtgt forward(1, 1.4)
• gtgtgt turnLeft(1, .3)

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range()

• gtgtgt range(4)
• 0, 1, 2, 3
• gtgtgt for i in range(4)
• print Hi
• Hi!
• Hi!
• Hi!
• Hi!

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range()

• gtgtgt for i in range(4)
• forward(1, 1.4)
• turnLeft(1, .3)

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Making Noise

• beep(duration, freq1)
• gtgtgt beep(.5, 880)
• gtgtgt beep(.5, 440)
• beep(duration, freq1, freq2)
• gtgtgt beep(1, 440, 880)

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Making Noise

• speak(any string)
• gtgtgt speak(Hello world!)
• gtgtgt speak(Whats up, Doctor Jay?)
• getVoices()
• gtgtgt getVoices()
• setVoice(Name)
• gtgtgt setVoice(Fred)

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Making Noise

• playSong( makeSong(string))
• gtgtgt playSong(makeSong(a 1 c 1/8))
• gtgtgt playSong(makeSong(c4 1 d3 1 a5 1))

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Putting it all together

• Instead of entering the commands one at a time,
  we can put them all together into a program
• From the IDLE menu, select File -gt New Window
• Name it by selecting File -gt Save asfrom the
  new window
• Name it Dance.py

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Python

• Looks like English
• Indentation matters
• Interactive
• Easy to learn, but powerful

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Dance.py

• for i in range(10)
• forward(1, 2)
• backward(1, 2)
• for i in range(3)
• beep(.25, 200)
• beep(.25, 400)
• beep(.25, 800)
• beep(.25, 1600)

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Dance.py

• for i in range(10)
• forward(1, 2)
• backward(1, 2)
• for i in range(3)
• beep(.25, 200)
• beep(.25, 400)
• beep(.25, 800)
• beep(.25, 1600)

To run your program, select Run -gt Run
Module from the new window menu
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Myro control

• wait(seconds)
• gtgtgt wait(.5)
• for seconds in timer(10) do something for
  10 seconds
• while timeRemaining(20)
• do something for 20 seconds

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Robot Bling

• gtgtgt setLEDBack(1)
• gtgtgt setLEDBack(0)

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Camera

• gtgtgt picture takePicture()
• gtgtgt show(picture)

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Challenge 3Build a Robo Cochroach

• If you see light, run

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Robot Sensors
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Senses

• getLight()- left, center, right
• getBright() - left, center, right
• getIR() - left, right
• getObstacle() - left, center, right

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Reading the Light Sensors
Light sensors

• getLight(left)
• getLight(center)
• getLight(right)
• getLight()
• 657, 1453, 1025

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Python functions

• def functionName(arg1, arg2value)
• print hello world!, arg1, arg2
• this is a comment
• functionName(1)

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Thank you for your time!
For more information see www.roboteducation.org