loomo-on-azure

A quick integration test for the Segway Loomo

Background Informatio

Loomo's Coordinate System

Reference Frame

Head Yaw Pitch Roll

Connecting to Azure

Be sure to edit the MainActivity.java file and set the connString near the top. IoTHub connection strings can be found in the portal, for IoT Central you will need to generate the connection string

Telemetry

Loomo sends the following telemetry data to the cloud

{
  "type":"telemetry",
  "Base":{
    "OdometryPose":{
      "AngularVelocity":2.9422954E-06,
      "LinearVelocity":-7.0900177E-07,
      "Theta":1.2450294,
      "X":7.1827145,
      "Y":18.051867
    },
    "AngularVelocity":0.0029737677,
    "AngularVelocityLimit":0.0,
    "CartMile":56,
    "ControlMode":0,
    "LightBrightness":68,
    "LinearVelocity":0.0,
    "LinearVelocityLimit":5.0,
    "Mileage":388773.0,
    "RidingSpeedLimit":5.0,
    "RobotPower":100,
    "UltrasonicDistance":529.0,
    "UltrasonicObstacleAvoidanceDistance":1.2,
    "BodyLightOpen":0,
    "CartModeWheelSlip":1,
    "InCartMode":0,
    "RidingInSpeedLimit":0,
    "UltrasonicObstacleAvoidanceEnabled":0
  },
  "AngularVelocity":0.0029737677,
  "LinearVelocity":0.0,
  "CartMile":56,
  "Mileage":388773.0,
  "RobotPower":100,
  "LightBrightness":68,
  "UltrasonicDistance":529.0,
  "ControlMode":0,
  "Head":{
    "HeadJointPitch":-1.4084424,
    "HeadJointRoll":0.0,
    "HeadJointYaw":-0.35932684,
    "HeadMode":8,
    "HeadPitchAngularVelocity":0.0,
    "HeadRollAngularVelocity":0.0,
    "HeadWorldPitch":-1.3213676,
    "HeadWorldRoll":0.06760753,
    "HeadWorldYaw":0.0,
    "HeadYawAngularVelocity":0.0
  },
  "HeadMode":8,
  "HeadJointPitch":-1.4084424,
  "HeadJoingYaw":-0.35932684,
  "Sensor":{
    "BasePose":{
      "Yaw":-1.4720912,
      "Pitch":-0.025982592,
      "Roll":0.0028763018
    },
    "BaseTicks":{
      "LeftTicks":7034,
      "RightTicks":6770
    },
    "BaseWheelInfo":{
      "LeftSpeed":0,
      "RightSpeed":0
    },
    "HeadJointYaw":-0.35932684,
    "HeadJointPitch":-1.4084424,
    "HeadJointRoll":0.0,
    "HeadWorldYaw":0.0,
    "HeadWorldYawTimestamp":1568354397671000,
    "HeadWorldPitch":-1.3213676,
    "HeadWorldPitchTimestamp":1568354397671000,
    "HeadWorldRoll":0.06760753,
    "HeadWorldRollTimestamp":1568354397671000,
    "InfraredData":{
      "LeftDistance":766.0,
      "RightDistance":1250.0
    },
    "Pose2D":{
      "AngularVelocity":0.0029737677,
      "LinearVelocity":-0.000685636,
      "Theta":1.2450294,
      "X":7.1827145,
      "Y":18.051867
    },
    "Frame":{
      "BaseX":7.1827145,
      "BaseY":18.051867,
      "BaseTheta":0.0,
      "BaseErrCode":0,
      "HeadYaw":1.2531079,
      "HeadPitch":-0.85681164,
      "HeadErrCode":0
    },
    "UltrasonicDistance":529.0
  },
  "EventProcessedUtcTime":"2019-09-13T05:59:57.4725206Z",
  "PartitionId":1,
  "EventEnqueuedUtcTime":"2019-09-13T05:59:57.3890000Z",
  "IoTHub":{
    "MessageId":"7cfa5987-acdc-4fa3-b6f5-26e838390bc2",
    "CorrelationId":"b3bc02a3-9dba-444e-a368-a61fc7389411",
    "ConnectionDeviceId":"robot",
    "ConnectionDeviceGenerationId":"637008302286304863",
    "EnqueuedTime":"2019-09-13T05:59:57.3840000Z",
    "StreamId":null
  }
}

Cloud to Device messages

Loomo can respond to messages from the cloud in the following form

{
  "type": "move", 
  "linear": 0, 
  "angular": 1
}

{
  "type": "look",
  "yaw": 1.5,
  "pitch": 0.7
}

{
  "type": "socket",
  "address": "192.168.0.100",
  "port": 9000,
  "cadence": 1000
}

Current Issues

See issues

seank-com / loomo-on-azure

readme