fischertechnik and MS Robotics Developers Studio

DssServiceDescription for service FT16R4

Information site by the release FT16 R4.3 platform software.

Version 2010-11-14 for MS-robotics Developers Studio 2008 R3 edition.
Used during the Schoonhoven/Munster presentations

Resolved issues:

Problem with the ChangeMotorStr/Int command: Unresolved messages issue.

Overview


ConnectROBO	Command message to connect or release the connection with the hardware (RoboInterface + 0..3 RoboExtensions, RoboExtension (stand alone), RoboCOnnectionBox) Only USB and RF connections.
ChangeMotor, ChangeMotorInt and ChangeMotorStr	Extended functionality to control the motors
SetMotorPower, SetMotorsPower,	Basic Motor messages.
SendRadioCall	Send A Robo (RF) RadioCall to a RoboInt (Send/Receive functionality). See also the FtLib or the RoboPro description.
Get, Replace	Standard messages to Get (retrieve) or Replace the entire state.
SetDistanceSensors	To control the roll of D1 and D2, see SetFtDistanceSensorMode function in the FtLib
SetupAnalog	Setup the Reference (setPoint) and variance (Delta) for an Analogue input. With these values, an AnalogSensorChange will be generated. Default, there is no generation of notifications. The values can be polled with the GET message.

Notifications

AnalogSensorChange	Notify message indicates the change of an Analogue Sensor. Only if there is an Reference (setPoint) and variance (Delta) defined. The state can be polled with the GET message.
BinarySensorChange	Notify message indicates the change of a binary sensor. The state can be polled with the GET message.
IRbuttonChange	Notify message indicates the change of an IR-button. The state can be polled with the GET message.
RadioCall	Notify message indicates the arrival of a Robo (RF) RadioCall(Send/Receive functionality). See also the FtLib or the RoboPro description.
ConnectionChange	Notify message indicates the change in the connection with the Hardware. (under development) For the moment only connected and disconnected, in the future also changes in the RF connection (or BlueTooth Robo-Tx)

Description of the ChangeMotor, ChangeMotorInt and ChangeMotorStr Command Messages

The basic command message is ChangeMotor. The value of the properties are based on enumeration constants.
However there is in VPL no casting from integer type to enumeration type possible. I created a workaround two extended version of ChangeMotor.
I added two front ends, one for the use of strings and the other for the use of integer as input types.

The ChangeMotor command message offers a very flexible approach of a motor. A lot more then RoboPro offers.
There are also two low level command messages available, namely

ChangeMotorInt
Extends the ChangeMotor with the possibility to use integers instead of the constant enumeration type.
The integer is nullable. If a int-field is null, then the normal field will be used.

ChangeMotorStr
Extends the ChangeMotor with the possibility to use strings instead of the constant enumeration type.
If a str-field is null, then the normal field will be used.

Description of the ConnectROBO request message Messages

ConnectROBO request message
Data connections:
- Command field:
                      Disconnect:               (0)
                      ConnectUSBDefault (1):
                          Connect to the first ROBO device
                      ConnectUsbWithSerialNumber (2)
                          Connect to the ROBO device with the given serial number
                      ConnectWithDialog (3)
                          (under development)
                      Connect Com (4)
                          (under development)
- Information field: the serial number.as string
The reply give only information, you must use the ConnectionChange notification to start or stop your application.
ConnectionChange notification
    A change in the connection will generated this notification.
    You can use this notification to start your application.
    Available fields:
DateTime timeStamp = DateTime.UtcNow;
bool Connected ;     Interface is connected

String FtDeviceTyp: Interface type,

String FtSerialNr     Serial Number;

String FtFirmware   Firmware description;

String FtManufacturer ;Manufacturer

String FtLongName;   Long name of the interface

String FftShortName; Short name of the interface

String Information;    Additional information

Overview of notifications

Analog sensor change: depends of the setting of the Variance and SetPoint for a sensor.
Default disabled.

Binarysensor change: notify a change in one of the binary inputs

IRbutton change: notify a change in one of the infra red buttons.

Connection change: notify a change in the connection with the interface.

Content of a Binary Change notification

Content of a IR Change notification

Content of a Analog Change notification

IdUnit, IdSensor = Id ad enumeration types
IdStr                   = Id as string example: B2I2    slave 2, Input 2
IdInt                   = Id as integer             24       slave 2, Input 2
Pressed              = (bool) The state of the switch, button or analogue value ( false is below SetPoint, true above SetPoint ) Boolean,
TimeStamp         =(datetime) Time stamp of this notification.

This version supports:

ROBO interface with up to 3 extension modules
Extension module direct connected
The use of the IR commander
ROBO connection box
Use of the RF connection

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(c) 2008-2010 Ussel-Educ IntDev
ing. C.vanLeeuwen Btw.

FtTxService, Ft16Service and FtTlService van C.van Leeuwen is in licentie gegeven volgens een
Creative Commons Naamsvermelding-NietCommercieel-GeenAfgeleideWerken 3.0 Unported licentie.