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American Journal of Public Health Research
DOI: 10.12691/ajphr-1-1-3

The Implementation of a Tele-Homecare System with Service Oriented Architecture and HL7 Message Transmission Standard
Ching-Sung Wang

American Journal of Medical and Biological Research
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The Influence of Ethanol on Pyruvate Kinases Activity in Vivo, in Vitro, in Silico
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American Journal of Medical Sciences and Medicine
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Clinical and Histological Features in Wegener Granulomatosis
Li Cavoli Gioacchino, Passantino Rita, Bono Luisa, Tortorici Calogera, Ferrantelli Angelo, Giammarresi Carlo, Rotolo Ugo

American Journal of Infectious Diseases and Microbiology
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The Curse of Lymphatic Filariasis: Would the Continual Use of Diethylcarbamazine Eliminate this Scourge in Papua New Guinea?
Anne Lanham, Lillian Mwanri

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Design of Mobile Application for Controlling Robosoccer via Bluetooth

Jozef Varga*, Ladislav Vargovčík, Vladimír Baláž

Prototyping and Innovation Centre, Technical University of Kosice, Kosice, Slovakia

Abstract: This article describes an implementation of mobile application for controlling of robosoccer robots, it was created through online development environment MIT app inventor 2. After starting of application Robosoccer at android device you can select between Player 1 or Player 2 robot soccer. Android device can communicate with robots via bluetooth interface. The application uses an accelerometer for control direction and movement slider for speed control. Users can download application from Google Play store with title “Robosoccer” and then play soccer with robots.

Keywords: android device, robosoccer, android application, bluetooth

Citation: Jozef Varga, Ladislav Vargovčík, Vladimír Baláž, Design of Mobile Application for Controlling Robosoccer via Bluetooth. Journal of Automation and Control, 5 (2). 46-49. January 2017. doi:10.12691/automation-5-2-3

1. Introduction

In this paper is described a development of Android application for controlling of robosoccer robots via Bluetooth interface. Application is created at online development environment MIT app inventor 2. Android device is sending data to Bluetooth module into the robot and arduino pro mini controlling dc motors to robot via PWM motor driver from Bluetooth receiving data, Figure 1. After the start application users can choose from connection to Player 1 or Player 2 robot. Application then initialize screen for control of robot and turn on Bluetooth on device. [1,2,4]. In Bluetooth settings is necessary pairing android device with arduino module and then pressing START button for connecting to robosoccer player. Direction of robot is controlling via accelerometer and speed via movement slider. Maximal speed of robot is 4 meter per second [3,5,9].

Figure 1. Interconnection of devices

2. Home Screen of Robosoccer Application

At Figure 2 is shown home screen1 of application, which allows choose from two players. The source of commands at MIT app inventor 2 was created by block schemes. At Figure 3 are shown blocks for initialization of next action. After the pressing of button Player1 will open screen2 or Player2 open screen3.

Figure 2. Home screen

Figure 3. Block schemes of home screen

Bluetooth enable the activity starter for turning on Bluetooth and it is call after initialization Screen2 that is shown at Figure 4. This same activity starter will call after initialization Screen3.

Figure 4. Call activity starter for turning at Bluetooth

3. Screens and Block Schemes for Robot Control

Screens at Figure 5 consist from Bluetooth paired Player button and from START button for Bluetooth connection to the robot. In the middle is image sprite of robot for monitoring direction and at the lower side are displayed values of accelerometer X and Y. At right side of screen is slider for speed control.

Figure 5. a) Screen2 for Player1; b) Screen3 for Player2.

By pressing of paired button we can call Bluetooth settings via activity starter that is shown on blocks at Figure 6, for pairing of android device with robot. Button START is used for connecting device to Bluetooth module which address into the robot and also for activating of Clock 1 and Clock 2 for sending data.

Figure 6. Block schemes for buttons for Paired and START.

For sending data from android device to robot was creating two variables: slider and direction, shown at Figure 7. Direction is variable that is using for determination of robot direction and slider variable is using for determination of robot speed.

Figure 7. Create of slider and direction variables.

3.1. Algorithm for Sending Data of Acceleration Sensor

Algorithm that is shown at Figure 8 is using for sending data about tilting of android device and determined of zero position. On the base of this data is possible to determine direction of robot movement.

Figure 8. Algorithm for sending data of acceleration sensor

3.2. Algorithm for Sending Data of Slider

Algorithm shown at Figure 9 is used for slider variable assignment of thumb position. On the base of this data is set speed of robot.

Figure 9. Algorithm for sending data of slider

3.3. Sending Data of Slider and Direction Variables

Clock1 is sending data from direction variable and Clock2 is sending data from slider variable, block scheme is shown at Figure 10.

Figure 10. Sending data of slider and direction variables

For closing of application is used back button of device. After the pressing of back button was call the stop for sending data from Clock1 and Clock2 and then follows closing of application, shown at Figure 11.

Figure 11. Block schemes for back button pressed.

4. Conclusion

This application describes an implementation of android application that was created at MIT app inventor 2 for controlling of robosoccer players, made by Department of robotics SjF TUKE. Connection between android device and arduino at robot is realized by Bluetooth interface. Users can download application from Google play store – Robosoccer. After starting of application users can choose from controlling green picture – Player 1 or blue picture – Player 2 robot. Robosoccer can play two users between themselves with android device. This application can be extended with more robots and it can be used for controlling with other types of robots.

This contribution is the result of the project implementation: Výskum syntetických a biologicky inšpirovaných lokomócií mechatronických sústav v členitom teréne. Project VEGA 1/0872/16 financed by the Slovak Ministry of Education.

References

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Beniak, Juraj - Križan, Peter - Matúš, Miloš: Accuracy of Rapid Prototyped models with using of FDM technology. In: Applied Mechanics and Materials. - ISSN 1660-9336. - Vol. 613 : 13th International conference on Industrial, Service and Humanoid Robotics, ROBTEP 2014, Štrbské Pleso, Slovakia, 15-17 May 2014 (2014).

[8]   | Beniak, Juraj: Rapid prototyping and accuracy of created models. In: ERIN. - ISSN 1337-9089. - Roč. 5, č. 6 (2012), s. 2-8.
[9]   | Świć A., Wołos D., Zubrzycki J., Opielak M., Gola A., Taranenko V., Accuracy Control in the Machining of Low Rigidity Shafts, Applied Mechanics and Materials, 613, 2014, pp. 357-367.