Difference between revisions of "Activities/Butialo"
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− | Butialo is a user-friendly environment that allows programming of the Butiá in the Lua language. Lua is a simple imperative scripting language but can create sophisticated programs. It is a dynamic language with automatic memory management and is extremely fast. Butialo is a derivative of the Pippy IDE (Python environment provided with the XO), which simplifies the creation of programs for the presence of components connected to the Butiá and offering snippets of code to access them. | + | Butialo is a user-friendly environment that allows programming of the [[Activities/TurtleBots#Buti.C3.A1|Butiá]] robot in the [http://www.lua.org/ Lua language]. Lua is a simple imperative scripting language but can create sophisticated programs. It is a dynamic language with automatic memory management and is extremely fast. Butialo is a derivative of the [http://activities.sugarlabs.org/en-US/sugar/addon/4041 Pippy] IDE (Python environment provided with the XO), which simplifies the creation of programs for the presence of components connected to the Butiá and offering snippets of code to access them. |
− | The authoritative documentation is in the Spanish language at [http://www.fing.edu.uy/inco/proyectos/butia/mediawiki/index.php/Butialo] | + | '''The authoritative documentation is in the Spanish language at [http://www.fing.edu.uy/inco/proyectos/butia/mediawiki/index.php/Butialo]''' |
+ | |||
+ | [[File:Butialo.jpg]] | ||
==Installation== | ==Installation== | ||
Download the Activity at [http://activities.sugarlabs.org/sugar/addon/4457] | Download the Activity at [http://activities.sugarlabs.org/sugar/addon/4457] | ||
+ | |||
+ | Later versions of Sugar do not work with Butialo V4, so far tested OK on Sugar 0.88 and failing on Sugar 0.94. (Error 'libreadline.so.5 cannot open shared object file' This could be solved either by installing libreadline, or building lua with no libreadline support.) | ||
+ | |||
+ | ==Programming documentation== | ||
+ | Common commands are shown in the samples on the left of the screen. For more documentation on Lua commands see the [http://www.lua.org/docs.html documentation for Lua]. For Butia specific commands, after installing TurtleBots, look in ~/Activities/TurtleBots.activity/plugins/butia/butiaAPI.py for their syntax. | ||
==Simple example== | ==Simple example== | ||
Line 39: | Line 46: | ||
Butia with dynamic stability. Take a Butiá, remove idler wheels and place an IR distance sensor pointing to the floor. The button toggles the behavior. | Butia with dynamic stability. Take a Butiá, remove idler wheels and place an IR distance sensor pointing to the floor. The button toggles the behavior. | ||
− | local d | + | local d --measured distance |
− | local eq -- | + | local eq --equilibrium position of d |
− | local v | + | local v --calculated velocity |
while true do | while true do | ||
− | + | print ("Press the button to start") | |
− | + | repeat until Boton.getBoton()==1 | |
− | + | ||
− | + | eq = Dist.getDistancia() | |
− | + | ||
− | + | print("Starting", eq) | |
− | + | util.wait(1) | |
− | + | ||
− | + | repeat | |
− | + | d = Dist.getDistancia() | |
− | + | v = 100+5*math.abs(d-eq) | |
− | + | if v > 1024 then v = 1024 end | |
− | + | if d < eq then | |
− | + | Motores.setvel2mtr(1, v, 1, v) | |
− | + | else | |
− | + | Motores.setvel2mtr(0, v, 0, v) | |
− | + | end | |
− | + | until Boton.getBoton()==1 | |
− | + | ||
− | + | print("Finished") | |
− | + | Motores.setvel2mtr(1, 0, 1, 0) | |
− | + | util.wait(1) | |
end | end | ||
+ | |||
+ | [http://www.youtube.com/watch?feature=player_embedded&v=3A0-Jmpk3c0 Video] | ||
+ | |||
+ | ==Util== | ||
+ | |||
+ | Butialo provides various auxiliary functions. | ||
+ | util.wait (t) | ||
+ | Pauses program execution for t seconds. | ||
+ | |||
+ | |||
+ | util.get_time () | ||
+ | Returns the system time, in seconds. | ||
==Continue reading in Spanish== | ==Continue reading in Spanish== | ||
[http://www.fing.edu.uy/inco/proyectos/butia/mediawiki/index.php/Butialo] | [http://www.fing.edu.uy/inco/proyectos/butia/mediawiki/index.php/Butialo] | ||
+ | |||
+ | |||
+ | [[Category:Activities]] |
Latest revision as of 00:28, 21 April 2016
Butialo is a user-friendly environment that allows programming of the Butiá robot in the Lua language. Lua is a simple imperative scripting language but can create sophisticated programs. It is a dynamic language with automatic memory management and is extremely fast. Butialo is a derivative of the Pippy IDE (Python environment provided with the XO), which simplifies the creation of programs for the presence of components connected to the Butiá and offering snippets of code to access them.
The authoritative documentation is in the Spanish language at [1]
Installation
Download the Activity at [2]
Later versions of Sugar do not work with Butialo V4, so far tested OK on Sugar 0.88 and failing on Sugar 0.94. (Error 'libreadline.so.5 cannot open shared object file' This could be solved either by installing libreadline, or building lua with no libreadline support.)
Programming documentation
Common commands are shown in the samples on the left of the screen. For more documentation on Lua commands see the documentation for Lua. For Butia specific commands, after installing TurtleBots, look in ~/Activities/TurtleBots.activity/plugins/butia/butiaAPI.py for their syntax.
Simple example
Move forward until there is an obstacle.
Motores.setvel2mtr( 1, 500, 1, 500 ) while true do local dist = Dist.getDistancia() if dist<700 then Motores.setvel2mtr( 1, 0, 1, 0 ) repeat wait(1) dist = Dist.getDistancia() until dist > 700 Motores.setvel2mtr( 1, 500, 1, 500 ) end end
Can also be programmed with events. The previous program is equivalent to the following:
local function adelante() -- adelante is Spanish for forward or proceed Motores.setvel2mtr( 1, 500, 1, 500 ) end local function esperar() -- esperar is Spanish for wait Motores.setvel2mtr( 1, 0, 1, 0 ) wait( 1 ) end events.add( Dist.getDistancia, '<', 700, esperar ) events.add( Dist.getDistancia, '>', 700, adelante ) events.go()
Simple example (other)
Butia with dynamic stability. Take a Butiá, remove idler wheels and place an IR distance sensor pointing to the floor. The button toggles the behavior.
local d --measured distance local eq --equilibrium position of d local v --calculated velocity while true do print ("Press the button to start") repeat until Boton.getBoton()==1 eq = Dist.getDistancia() print("Starting", eq) util.wait(1) repeat d = Dist.getDistancia() v = 100+5*math.abs(d-eq) if v > 1024 then v = 1024 end if d < eq then Motores.setvel2mtr(1, v, 1, v) else Motores.setvel2mtr(0, v, 0, v) end until Boton.getBoton()==1 print("Finished") Motores.setvel2mtr(1, 0, 1, 0) util.wait(1) end
Util
Butialo provides various auxiliary functions.
util.wait (t)
Pauses program execution for t seconds.
util.get_time ()
Returns the system time, in seconds.