Sample App 1: Follow Target

Micro Rover Sample App: Follow Target

The Follow Target app is designed to showcase basic autonomous abilities of a robot paired with a smartphone. This app enables the Micro Rover to follow a specific image target.

• Working Micro Rover
• An Android Device 4.0 or later, configured in developer mode: 
• Android Debug Bridge (ADB) which can be found in the SDK Tools portion of the Android SDK
  • More details on ADB
  • Google USB Driver
  • Instructions to enable Developer Options
• Micro USB Cable
• MDRFollowTarget-release.apk extracted from the Micro Rover Applications package you can download from the links below.
• A print out of the stones target image

Installing the app

• On the device, in the Developer Options Menu, enable 'USB debugging' on your Android device
• Connect your Developer Mode Enabled device to your PC
• On the device you may be asked to accept an RSA key to enable debug connection to the PC, accept the key
• On the PC command line, to verify ADB is working, type "adb devices". If successful, this will list a serial number and status. "device" as status means that ADB is connected.

C:\TEMP>adb devices
List of devices attached
TA880008YN      device

• From a PC command line, change directory to the location of the MDRSimpleNavigator.apk
• From the PC command line, type "adb install -r MDRSimpleNavigator.apk"
• ADB will return "success" if successful

C:\TEMP>adb install -r MDRSimpleNavigator-debug.apk
2612 KB/S (38256 bytes in 0.143s)
        pkg: /data/local/tmp/MDRSimpleNavigator-debug.apk
Success

Pairing the Android device to the IOIO board

• The Android device will communicate via Bluetooth the IOIO board controller on the robot.
• Turn on the robot. A red LED on the IOIO board should illuminate and the Bluetooth dongle may flash indicating that it is active
• On the Android Device, open the Settings
• From the device Settings menu, turn Bluetooth on
• From the device Settings menu, select Bluetooth by clicking the area to the left of the on/off slider
• In the device Bluetooth menu, after scanning for devices, the IOIO board should appear in the available devices

• From the list of available devices, select the IOIO board
• In the pairing dialog, enter the default IOIO pin "4545" and press OK

• The Android device and the IOIO board should now be paired and ready to use

Operation

• Turn on the Micro Rover
• Find the icon labeled MDR Follow Target in your Android device's app tray

• Click on the icon to open the app
• Mount the phone in the cradle of the Micro Rover
• The forward camera should appear on the screen of the app
• Hold the stones target image in front of the Micro Rover
• Once the image is visible in the camera preview screen on the app, the Micro Rover should begin following
• You can see the distance and angle of the target from the Micro Rover changing on the top of the app's preview screen