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readme.txt
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readme.txt
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Here we describe how to compile and use the source codes in this directory (csp3).
Descriptions of each code are provided at the beginning of each source file.
Here csp3 stands for Create serial-port packet processor.
The source codes are written to demonstrate an example of how to use the iRobot
Create robot using a usb-to-serial cable. In this example, the robot learns a
control task using the sarsa lambda algorithm. To make sure the robot remains
within a particular bounded region, we assume that the color of the target
region is different than the color of the outside region. The robot has four
cliff sensors pointing downward, using which the change in the color of the two
regions is detected (e.g. between black and yellow), and the robot is kept within
the target region. However, the code can be used just as an example of serial
communication to the robot without understanding this concept of colored regions
as well. The main code will still make the robot move when executed.
The main code is 'sarsa.c'. It is an example of how to set up a connection with
the iRobot Create robot, collect data from the robot as fast as possible and at
the same time use a learning agent that runs on a different time cycle. It should
be compiled in the following way:
cc sarsa.c -pthread -o sarsa
For mac os x, '-pthread' can be omitted.
To execute, type:
./sarsa /dev/tty.something
Here 'tty.something' refers to the serial port driver corresponding to the
usb-to-serial cable.
This code requires a file named 'cliffThresholds.dat'. Here the cliff threshold
values for the boundary of the target region are stored. An example file is
already provided so that the program works right away.
Additional source codes are also given so that the robot can be re-calibrated to
regions with different colors (e.g., a table or a carpet).
The code for calibrating the cliff values is 'cliffcalib.c'.
To compile the code, type:
cc cliffcalib.c -pthread -o cliffcalib
To execute, put the robot on the region where the robot must reside. Then type:
./cliffcalib /dev/tty.something > inside
The robot will wiggle for 10 seconds, and the minimum and maximum values of the
four cliff sensors will be stored in the file named 'inside'. Any other file name
can also be used. Repeat the same by putting the robot on the other region which
defines the outside of the target region. Store the data in a file, named e.g.
'outside'.
The source file named 'makethresh.c' takes the cliff values from the two files
and makes the threshold values. Compile it in the following way:
cc makethresh.c -o makethresh
To execute, type:
./makethresh inside outside
The order in which the file names are given matters. The first one is treated as
the target region of the robot. This execution produces the 'cliffThresholds.dat'
file.
Serial cables:
--------------
For cable-based serial port communication to the Creates from a Mac, you will need to
install drivers.
For the StarTech serial port cable Install the driver for Prolific/PL2303X/MacOSX10.6/
from the CD in the box
For the turtlebot USB-Create cable go to
http://www.ftdichip.com/Drivers/VCP.htm
Install the 64 bit OSX driver.