This article describes an implementation of mobile application for controlling of robosoccer robots, it was created through online development environment MIT app inventor 2. After starting of application Robosoccer at android device you can select between Player 1 or Player 2 robot soccer. Android device can communicate with robots via bluetooth interface. The application uses an accelerometer for control direction and movement slider for speed control. Users can download application from Google Play store with title “Robosoccer” and then play soccer with robots.
In this paper is described a development of Android application for controlling of robosoccer robots via Bluetooth interface. Application is created at online development environment MIT app inventor 2. Android device is sending data to Bluetooth module into the robot and arduino pro mini controlling dc motors to robot via PWM motor driver from Bluetooth receiving data, Figure 1. After the start application users can choose from connection to Player 1 or Player 2 robot. Application then initialize screen for control of robot and turn on Bluetooth on device. 1, 2, 4. In Bluetooth settings is necessary pairing android device with arduino module and then pressing START button for connecting to robosoccer player. Direction of robot is controlling via accelerometer and speed via movement slider. Maximal speed of robot is 4 meter per second 3, 5, 9.
At Figure 2 is shown home screen1 of application, which allows choose from two players. The source of commands at MIT app inventor 2 was created by block schemes. At Figure 3 are shown blocks for initialization of next action. After the pressing of button Player1 will open screen2 or Player2 open screen3.
Bluetooth enable the activity starter for turning on Bluetooth and it is call after initialization Screen2 that is shown at Figure 4. This same activity starter will call after initialization Screen3.
Screens at Figure 5 consist from Bluetooth paired Player button and from START button for Bluetooth connection to the robot. In the middle is image sprite of robot for monitoring direction and at the lower side are displayed values of accelerometer X and Y. At right side of screen is slider for speed control.
By pressing of paired button we can call Bluetooth settings via activity starter that is shown on blocks at Figure 6, for pairing of android device with robot. Button START is used for connecting device to Bluetooth module which address into the robot and also for activating of Clock 1 and Clock 2 for sending data.
For sending data from android device to robot was creating two variables: slider and direction, shown at Figure 7. Direction is variable that is using for determination of robot direction and slider variable is using for determination of robot speed.
Algorithm that is shown at Figure 8 is using for sending data about tilting of android device and determined of zero position. On the base of this data is possible to determine direction of robot movement.
Algorithm shown at Figure 9 is used for slider variable assignment of thumb position. On the base of this data is set speed of robot.
Clock1 is sending data from direction variable and Clock2 is sending data from slider variable, block scheme is shown at Figure 10.
For closing of application is used back button of device. After the pressing of back button was call the stop for sending data from Clock1 and Clock2 and then follows closing of application, shown at Figure 11.
This application describes an implementation of android application that was created at MIT app inventor 2 for controlling of robosoccer players, made by Department of robotics SjF TUKE. Connection between android device and arduino at robot is realized by Bluetooth interface. Users can download application from Google play store – Robosoccer. After starting of application users can choose from controlling green picture – Player 1 or blue picture – Player 2 robot. Robosoccer can play two users between themselves with android device. This application can be extended with more robots and it can be used for controlling with other types of robots.
This contribution is the result of the project implementation: Výskum syntetických a biologicky inšpirovaných lokomócií mechatronických sústav v členitom teréne. Project VEGA 1/0872/16 financed by the Slovak Ministry of Education.
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Published with license by Science and Education Publishing, Copyright © 2017 Jozef Varga, Ladislav Vargovčík and Vladimír Baláž
This work is licensed under a Creative Commons Attribution 4.0 International License. To view a copy of this license, visit
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| [1] | Havlík, Štefan - Hricko, Jaroslav. The analysis and design study of high speed robotic devices. In Applied mechanics and materials, 2013, vol. 282, p. 18-26. | ||
| In article | View Article | ||
| [2] | Zubrzycki J., Świć A., Taranenko V.: Mathematical model of the hole drilling process and typical automated process for designing hole drilling operations. Applied Mechanics and Materials Vol. 282 (2013) pp. 221-229. | ||
| In article | View Article | ||
| [3] | Piotrowski A.: The Spectacle of Architectural Discourses,” at Architectural Theory Review, (13:2, Routledge, 2008): 130-144. | ||
| In article | View Article | ||
| [4] | T. Mikolajczyk, J. Musial, L. Romanowski, A. Domagalski, L. Kamieniecki, M. Murawski, Multipurpose Mobile Robot, Applied Mechanics and Materials, vol. 282, (2013), 152-157. | ||
| In article | View Article | ||
| [5] | Slamka, J., Jedinák, M., Tolnay, M., Bachratý, M., Staš, O.: Automatic manipulation of parts made from yielding material. In: Applied Mechanics and Materials Vol. 332 (2013) pp. 432-430. | ||
| In article | View Article | ||
| [6] | Mikolajczyk T., Olaru A., Krainski P.: Adaptive control system for drill machine. In: Applied Mechanics and Materials Vol. 436 (2013) pp. 445-450. | ||
| In article | View Article | ||
| [7] | Beniak, Juraj - Križan, Peter - Matúš, Miloš: Accuracy of Rapid Prototyped models with using of FDM technology. In: Applied Mechanics and Materials. - ISSN 1660-9336. - Vol. 613 : 13th International conference on Industrial, Service and Humanoid Robotics, ROBTEP 2014, Štrbské Pleso, Slovakia, 15-17 May 2014 (2014). | ||
| In article | View Article | ||
| [8] | Beniak, Juraj: Rapid prototyping and accuracy of created models. In: ERIN. - ISSN 1337-9089. - Roč. 5, č. 6 (2012), s. 2-8. | ||
| In article | |||
| [9] | Świć A., Wołos D., Zubrzycki J., Opielak M., Gola A., Taranenko V., Accuracy Control in the Machining of Low Rigidity Shafts, Applied Mechanics and Materials, 613, 2014, pp. 357-367. | ||
| In article | View Article | ||
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