WiMo - The Windows Mobile Robot

OOPics on sale

BCross — Thu, 08 May 2008 18:28:14 GMT

I just got word that for one week only OOPics are on sale for $49... this is fairly decent as the OOPic-R's are usually about $80... I think/hope that this comes with the new firmware as well which has a few new objects to play with.

Just thought that if you were thinking of creating a WiMo or like project, that you'd want to know! :)

http://www.oopic.com

-- Brian

WiMobot site will be down this weekend

BCross — Tue, 06 May 2008 21:29:00 GMT

I know I haven't posted too much lately, but I'm still here and am enjoying the emails that I get from people who are still playing around with WiMo and building variants. I have some photos of one to post and will do that when I get a chance. I'm also hoping to release a software update (not sure exactly when yet).

But just wanted to get the word out that if you visit the WiMobot site this weekend, it may be down for system maintenance (or at least that is what I have been told).

You know how free time goes, but I'm looking forward to more frequent posts and some updates on WiMo and a couple related projects that I hope to work on soon.

More soon!

Brian

Happy 50th Anniversary Lego!

BCross — Tue, 29 Jan 2008 12:49:04 GMT

Yesterday, Lego celebrated its 50th Anniversary and C|Net published an article with some cool photos of Lego past and present. It was neat to see a photo of WiMo in the article. Happy anniversary Lego!

More soon!

-- Brian

WiMo has a sibling

BCross — Sat, 24 Nov 2007 01:13:53 GMT

So, it looks like WiMo has a sibling out there, or at least a distant cousin. Olivier Bloch, an Embedded Developer that I met at MEDC, decided to show another way on how easy it is to use your Windows Mobile device to remotely control a robot. Similar to the early versions of WiMo, you can use your device to drive the robot. What is cool is that he mainly used Microsoft Robotics Studio's VPL to create the entire thing.

I'll be taking some time off from work this December, and I'm looking forward to dabbling around with WiMo again. I'm hoping to finish some of the projects I started (WiMonet, MSRS 1.5). I even have another WiMo project in mind. But if you can't wait until then to get started on MSRS 1.5 and VPL... definitely go check out Olivier's stuff.

-- Brian

Using the OOPic on Vista

BCross — Mon, 08 Oct 2007 10:36:19 GMT

I'm back to working on WiMo after a longer than expected break (Summer, my day job, and other random stuff that came up). I still owe you all the WiMonet How-To and I'm long over do for a code update. I hope to have some new stuff posted soon. I even have a new WiMo project/modification I'm going to be working on soon.

In a few of my WiMo designs (WiMo Aggressor, WiMonet, Monster WiMo and a few other prototypes) i have used the OOPic as the microcontroller. The only real problem with this microcontroller is that the compiler for it does not work on Vista. So, when it came time to modify OOPic code, i just used a spare XP machine. Not necessarily ideal. Especially when I want to work on WiMo away from the office or home, just on my laptop (which I run Vista on).

I do believe that Savage Innovations is working on getting the compiler to work on Vista, but until then, here's one way you can get by using Vista. I just set this up tonight and so far it is working fairly nicely. A little slower, but it sure beats having to dual boot my machine or working on two separate machines.

Basically, you run Windows XP in Virtual PC (VPC). In case you didn't know, Virtual PC 2007 is a free download from Microsoft. It's a neat application that allows you to host other Operating Systems within a Virtual Environment.

If you have a copy of XP, you can install XP onto the Virtual PC. Then you can install the OOPic compiler on the VPC and code away. How about downloading your code to the OOPic? Well, all you have to do is map the VPC's COM port (i used COM2) to the COM port you have the OOPic hooked up to on your physical machine. VPC will pass all of the serial traffic from the OOPic to XP and vice versa.

Here are the settings that I used when I created the Virtual PC to which i installed XP:

Harddrive: 20 Gig max, just incase
Memory: 355MB
COM2: Physical COM3

All the rest of the settings are based more on your preference. The really cool part is that I am actually using Bluetooth to hook the laptop up to the OOPic. Via the Vista Bluetooth device settings, i added a partnership with the Sparkfun BlueSmirf i hooked up to the OOPic (see WiMo How-To on how to hook the BlueSmirft to the OOPic). Use the passkey "default" with no quotes when Vista asks you for a passkey otherwise you'll never get a connection (you don't need this passkey when connecting via the Smartphone). Take note of the Outgoing port (mine was COM3, hence the setting above) that is assigned. Then boot up your VPC XP and presto! You should be able to launch the OOPic software, setup the cable configuration to COM2 (assuming you used my settings) and be able to talk to the OOPic.

If you ever turn off the OOPic, you'll need to restart the VPC XP (at least that is what I have notice so far).

I hope this helps some of you out. You do need a copy of XP for this to work. I just a copy of XP from a machine I wasn't using anymore (like the machine i used to use for the OOPic :) ).

Back to some WiMo work. Hope to have something new posted for everyone soon. :)

-- Brian

Web problems and Code

BCross — Tue, 28 Aug 2007 01:25:27 GMT

The WiMoBot web site had a few problems the last couple of weeks, especially with the blog and downloads sections. They seem to be fixed now. Let me know if you ever hit a part of the site that blows up.

As for a WiMo update, I think I owe everyone one :). I was working on fine-tuning WiMonet but never quite finished. So, I am still planning on posting the instructions on how to build him and the source code. In fact, the source code may get updated sooner than the instructions since I have added some new features, fixed a few bugs, etc. All of which apply to WiMo in general (not just WiMonet). I could guess on when I'll post it, but with my recent track record (hey, it IS summer :) ), I think i'll just say "soon" :) I think once summer comes to an official end I'll get back to more WiMo antics.

The following are on my TODO list:

Get WiMo up and running on the latest MSRS
Post instructions on building WiMonet
more WiMo-based robots/systems.

Stay tuned and keep the emails coming :) Oh, and if you have a WiMo that you have built, let me know! I'd love to see it and add you to the community section.

-- Brian

WiMonet Number 3 on the way

BCross — Wed, 11 Jul 2007 07:31:04 GMT

It's been long enough. It is time to work on WiMo again. That's one of the nice things of a hobby, you can pick it up and put it down. But unlike some of my hobbies, I've picked WiMo back up :).

For MEDC I built 2 WiMonets (always nice to have a backup). I have parts to build one more WiMonet and so, that is what I am doing this week. Only, I hope to make some improvements. I am also jotting down the notes and taking pictures so that I can post the How-To in a little bit.

I'm experimenting with the Wheel Watcher set of quadrature encoders on the wheels this time. this should provide more accuracy in turning and moving around. I'm sure I'll still have some drift and whatnot, but it should be better.

I had originally planned to use a digital compass, but i haven't had the best of (consistent) luck with it yet. I'm putting them aside for now and will play with the compasses later.

I'm hoping to have the 3rd WiMonet built by next week sometime and hope to have the instructions out shortly after that.

-- Brian

The WiMos are Resting

BCross — Thu, 31 May 2007 10:03:36 GMT

Just a little update to tell you where I'm at with the posting of the new code and the instructions on how to build WiMonet. I will still be posting these, but it may be a little longer than I first expected. Time has been real short lately and a small break is good for creativity. Like I've said many times, I do all of this work mostly on my own time (only a little bit is done during "working" hours). At this point, I'm hoping to get something posted in about a month or a little after.

While I haven't worked on WiMo since MEDC, it has been fun answering the emails on WiMo. Looks like there are a few other WiMo projects brewing and I hope to post them on the site when there is something to show.

-- Brian

WiMonet Info and Maker Faire

BCross — Sat, 12 May 2007 01:44:00 GMT

It's been a week since MEDC, and I thought I'd give you all a little update on WiMonet.

WiMonet worked pretty well at MEDC, but there are some parts that I'd like to improve. I'd like the turning angles to be more precise. Most of the time, when WiMonet turned 90 degrees, he would turn about 90 degrees, but more often than I would like, he would turn anywhere from 75 to 105 degrees. There are a number of possible reasons why this was so:

The encoder ticks were about 1 tick/4 degrees in ratio. I was told that if i use a quadencoder i could get better accuracy. I've since ordered one and they should be here soon.
Wheel slippage: I don't think the wheels slipped much, but it is possible that i couldn't notice small slippage.
Sloped or uneven terrain. The whiteboard was pretty flat, but if it wasn't level, or there was a small divot in the board, this could have caused error as well.
The actual encoders not counting every tick due to wheel wobble or other factors.

So, before I post the code and instructions on how to build WiMonet, i'd like to work out a few of these minor problems so that he is a bit more consistent.

In other news, unfortunately, I won't be able to attend Maker Faire this year. I was really excited to bring all of the WiMo's and show people how cool Windows Mobile is, but due to work (remember, I work with WiMo on the side, so sometimes the day job gets in the way ;) ) and other commitments, I just can't take the time away.

So, stay tuned for more updates on WiMonet and I'll work to get the code and hardware how-to up online as soon as I can. I also have a few other WiMo projects on deck as well. Always exciting!

- Brian

MEDC Day 2 & 3

BCross — Fri, 04 May 2007 00:42:00 GMT

I just finished up day 3 here at MEDC in Las Vegas. It's been a lot of fun being a "street performer" here. I've been going around the show floor setting up the whiteboard and getting WiMonet to draw whatever drawing I drew on my T-Mobile Dash.

WiMo, just after drawing is name.

There has been a good amount of interest in WiMo and hopefully the project will help you in whatever new Windows Mobile applications you may create, especially maybe another WiMo?

WiMonet was podcasted at MEDC, so if you'd like to see a little bit of him in action, click here.

I'll try to get the updated source code as well as hardware instructions on WiMonet up online in about a month or so. There are a few little changes I would like to make before I write up the how-to that may make WiMonet more accurate.

As always, if you have questions, shoot me an email.

- Brian

MEDC Day #1

BCross — Wed, 02 May 2007 02:01:00 GMT

Day #1 of MEDC is almost over and WiMonet is holding up pretty well... I've been out and about the conference setting up WiMonet's canvas (aka whiteboard) so that he can show off his new artistic skills.

Today's demo consisted of a small drawing application that I wrote. In the app, you can draw a simple drawing using polylines. When the masterpiece has been created, you can send it over to WiMonet via text messages (SMS). WiMonet intercepts the text message (using the ultra cool MessageInterceptor .net class introduced in Windows Mobile 5.0) and then sets out to draw it.

I'm pretty happy with how WiMonet is drawing. He's not perfect, of course. More work could definitely be done to improve the accuracy of the sensors and what not, but this will be an on going process. The slight inaccuracies also makes it more of a work of art ;).

I'll have some pictures and videos later from the conference, but in the meantime, check out the impromptu preview video of WiMonet that Loke took when he came by my office one day a week or so ago.

More Soon!

Brian

WiMonet's First Square

BCross — Tue, 24 Apr 2007 08:08:12 GMT

WiMo is coming a long way since his first drawing last week. Check out the very first square that WiMo drew.

Yes, there were many attempts before this one, but this is the first one that looks more or less like a square :).

MEDC 2007 is just around the corner, and I hope to have WiMo drawing more than just squares.

More to come!

- Brian

Reducing Spam

BCross — Wed, 18 Apr 2007 23:49:08 GMT

No, WiMo hasn't been sent to reduce spam (yet)... but I am. I had left anonymous comments enabled, hoping I wouldn't get hit hard by the spam bots, but that was foolish thinking :). So, if you'd like to make a comment, you'll have to create an account. It's very quick. If you have any problems, let me know.

Hope to have some more info on WiMonet up soon.

-- Brian

Hi! My Name is WiMonet, I'm Ready To Paint.

BCross — Sat, 14 Apr 2007 07:16:03 GMT

I'd like to introduce the newest addition to the WiMo family, WiMonet (prounounced Wee-Monay).

WiMonet is a 2 wheeled robot that has the ability to draw on a whiteboard using a dry-erase marker. WiMonet will make his debut at MEDC 2007, so come on by and have WiMonet draw something for you :).

This robot is hot off the assembly line, so there is still some work to be done. There are a few hardware tweaks I want to make as well as the software to get him drawing on his own. Currently I can manually drive him like the previous WiMos. Check out the first picture drawn by WiMonet:

WiMonet is learning to be quite the artist. He is currently in his abstract phase :)

I need to center the pen a bit better, but that shouldn't be too big of a task. The circle toward the center at the bottom (with the diagonal line) is the result of WiMonet dancing the hokey pokey :).

What's new in WiMonet?

Similar to the Aggressor model, WiMonet uses a OOPic microcontroller and BlueSmirf Bluetooth module for the low-level brain and a Windows Mobile Smartphone as the main brain on board. WiMonet also adds the following new features:

Longer battery life: This was a must. That little 9v battery I was using didn't last very long mainly because it was powering the servo that turned the smartphone, and because 9v batteries only hold about 850mAh of juice (compared to the 2,000+ mAh of a AA)
360 degree turning servo: Now WiMo's head can turn all the way around. The Aggressor model used a standard servo which could only turn about 180 degrees. The servo i'm using now has a custom made (via BudgetRobotics) gear that allows it to turn a bit more than 360 degrees using a common servo.
Wheel Encoders: I went with very basic Wheel encoders here. These only measure how much the wheel has moved, not the direction. But either way, this gives WiMonet the ability to programatically go specific distances (as well as keep track of those distances).
Digital Compass: While not as accurate as I have dreamed (although i'm still getting the hang of it) this compass was pretty easy (was recommended) and one of the cheapest i could find ($52). This will give WiMonet a sense of direction.

WiMonet kept the ever-rugged rubberbands and even added a clothespin, although it's the more expensive plastic kind which you can get at Target for $4 for a pack of 25 :)

I'm planning on having a tutorial as well as an update to the source code in a couple of weeks so that you can build your own. I think it's time for me to go learn Logo ;)

Hope to see you at MEDC!

-- Brian

Robot Parts

BCross — Sat, 07 Apr 2007 08:09:50 GMT

So, I am wondering... Where do you go for your robot parts? Sensors, electronics, tools, etc. Every now and then I find a new place to shop on the net for parts and so I'm guessing there are quite a few.

For the original WiMo i used Jameco/Robotstore, Sparkfun, and BudgetRobotics. Recently i found RoboticsConnection. In fact, they have the OOPic on sale for $69 (instead of $85 i've seen it at other places). I've found a few other places here and there. Are there any other places that you recommend? I'd love to hear.

Oh, and the comments on the blog should be working now... If not, please let me know.

-- Brian