- Copyright
- About the Authors
- Credits
- Acknowledgments
- Foreword
- Introduction
- I. Robotics Developer Studio Fundamentals
- 1. Exploring Microsoft Robotics Developer Studio
- 1.1. Microsoft Does Robots?
- 1.2. Microsoft Robotics Developer Studio Components
- 1.3. Support for MRDS
- 1.4. Setting Up Your System
- 1.5. Additional Resources and Support
- 1.6. Summary
- 2. Concurrency and Coordination Runtime (CCR)
- 2.1. Overview of the MRDS Framework
- 2.2. Setting Up for This Chapter
- 2.3. Coordination and Concurrency Runtime
- 2.4. Implementing Common Control Structures
- 2.5. Error Handling
- 2.6. Interoperation with Legacy Code
- 2.7. Traps for New Players
- 2.8. Summary
- 3. Decentralized Software Services (DSS)
- 3.1. Overview of DSS
- 3.2. Running a DSS Node
- 3.3. Creating a New Service
- 3.4. Compiling and Running Services
- 3.5. Defining Service State
- 3.6. Persisting Service State
- 3.7. Modifying Service State
- 3.8. Service Initialization
- 3.9. Composing and Coordinating Services
- 3.10. DSS Tools
- 3.11. Deploying Services
- 3.12. Summary
- 4. Advanced Service Concepts
- 4.1. Setting Up for This Chapter
- 4.2. Subscribing and Notifying
- 4.3. User Interfaces
- 4.3.1. Using Windows Forms
- 4.3.2. Using Web Forms
- 4.3.2.1. Accessing Services from Web Pages
- 4.3.2.2. XSLT Overview
- 4.3.2.3. Setting Up Your Development Environment for XSLT
- 4.3.2.4. Using XSLT for Enhanced Information Display
- 4.3.2.5. Building an XSLT File from Scratch
- 4.3.2.6. Creating an XSLT file Using the MRDS Template
- 4.3.2.7. Displaying the State Using XSLT
- 4.3.2.8. Creating a Web Form for Data Input
- 4.3.2.9. Using JavaScript for Client-Side Scripting
- 4.4. Using a Camera
- 4.5. Inheriting from Abstract Services
- 4.6. More on Debugging
- 4.7. Where to Go from Here
- 4.8. Summary
- 1. Exploring Microsoft Robotics Developer Studio
- II. Simulations
- 5. The MRDS Visual Simulation Environment
- 5.1. The Advantages of Simulation
- 5.2. The Difficulties with Simulation
- 5.3. Prerequisites
- 5.4. Starting the Simulator
- 5.5. Using the Simulator
- 5.6. The Simulation Editor
- 5.7. Built-in Simulation Entities
- 5.8. Summary
- 6. Extending the MRDS Visual Simulation Environment
- 6.1. Simulation DLLs and Types
- 6.2. Building Your Own SRS-Robo-Magellan Simulation
- 6.3. Summary
- 7. Using Orchestration Services to Build a Simulation Scenario
- 8. Simulating Articulated Entities
- 9. Adventures in Simulation
- 5. The MRDS Visual Simulation Environment
- III. Visual Programming Language
- 10. Microsoft Visual Programming Language Basics
- 10.1. What Is a Data Flow Language?
- 10.2. The VPL Development Environment
- 10.3. A Simple VPL Diagram
- 10.4. Inputs, Outputs, and Notifications
- 10.5. Basic Activities
- 10.6. VPL Variables
- 10.7. Looping and Conditionals in VPL
- 10.8. The VPL Execution Model
- 10.9. Debugging a VPL Diagram
- 10.10. Creating Custom Activities
- 10.11. Using Lists and Switch Activities
- 10.12. An Example Using List Activities
- 10.13. Summary
- 11. Visually Programming Robots
- 12. Visual Programming Examples
- 10. Microsoft Visual Programming Language Basics
- IV. Robotics Hardware
- 13. Using MRDS with Robotics Hardware
- 13.1. Safety Considerations Before Starting
- 13.2. Types of Robots
- 13.3. Buying Your First Robot
- 13.4. Fundamental Concepts: Sensors, Actuators, and Controllers
- 13.5. Sensors
- 13.6. Actuators
- 13.7. Controllers
- 13.8. Summary
- 14. Remotely Controlling a Mobile Robot
- 15. Using a Robotic Arm
- 16. Autonomous Robots
- 16.1. PC-Based Robots
- 16.2. Setting Up a Stinger Robot
- 16.3. Setting Up Your PDA
- 16.4. Driving a Stinger Remotely
- 16.5. Wandering Using Sensors
- 16.6. Creating a CF Version of the Service
- 16.7. Setting Up the eBox
- 16.8. Running a Service on WinCE
- 16.9. Where to Go from Here
- 16.10. Summary
- 17. Writing New Hardware Services
- 17.1. Integrating New Hardware
- 17.2. Creating a Generic Brick Service
- 17.2.1. Terminology
- 17.2.2. Design
- 17.2.2.1. No Reconfiguration of the Brick (in this First Version)
- 17.2.2.2. All Devices Must Have a Name
- 17.2.2.3. Hardware Identifiers
- 17.2.2.4. Timestamps
- 17.2.2.5. Automatic Connection
- 17.2.2.6. Inputs and Outputs
- 17.2.2.7. Unit Conversion and Calibration
- 17.2.2.8. Locations of Sensors and Actuators
- 17.2.2.9. Access to Switches and LEDs is Included as a Convenience
- 17.2.2.10. Motors and Wheel Encoders
- 17.2.2.11. I2C Bus is Not Supported
- 17.2.3. Brick State
- 17.2.4. Device Enums
- 17.2.5. Brick Operations
- 17.2.6. Additional Components
- 17.3. The Integrator Robot
- 17.4. Testing a Generic Brick Robot
- 17.5. The Hemisson Robot
- 17.6. Where to Go from Here
- 17.7. Summary
- 13. Using MRDS with Robotics Hardware
Various organizations have assisted with the production of this book by making software services for their robots available for inclusion in the book examples and/or providing images for use in the figures. The authors wish to acknowledge their support. These organizations include (in alphabetical order) the following:
CoroWare, Inc.:
www.coroware.comInstitute for Personal Robots in Education (IPRE):
www.ipre.orgLEGO:
www.lego.comLynxmotion, Inc.:
www.lynxmotion.comParallax, Inc.:
www.parallax.comPicblok Corporation Pty Ltd:
www.picblokcorporation.comRoboticsConnection (Summerour Robotics Corporation):
www.roboticsconnection.comSurveyor Corporation:
www.surveyor.com
Throughout the preparation of the book, the Microsoft Robotics Developer Studio Team have been most helpful in resolving problems and answering questions. To them we extend a big "thank-you."
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