1. Step

Download PortMon from http://download.sysinternals.com/Files/PortMon.zip

2. Step
Start PortMon

Go to menupoint Computer / Connecto local

3. Step
Start Heart2Heart Software

Now you can monitor what commands are sent to the robot if you are doing some actions in the heart2heart software.

This is a guide howto Stream the Video with VLC from the DAO Robot to some Computer.

The Dao Robot has a WLAN Bridge.
Its Current IP Adress is 192.168.1.1

Use the same Adress Range on your Laptop (for example 192.168.1.10).
run VLC on the Robot.
The following example *.bat file opens a stream for camera2
Just add lines to open multiple streams for multiple cameras.


cd C:\Progra~1\VideoLAN\VLC\

start vlc -vvv dshow:// :dshow-vdev=”cam2″ :dshow-adev=”” :dshow-size=”160″ :dshow-caching=50 :dshow-chroma=”” :dshow-fps=15.000000 :no-dshow-config :no-dshow-tuner :dshow-tuner-channel=0 :dshow-tuner-country=0 :dshow-tuner-input=0 :dshow-video-input=-1 :dshow-audio-input=-1 :dshow-video-output=-1 :dshow-audio-output=-1 :sout=#transcode{vcodec=mp4v,vb=256,scale=1}:duplicate{dst=std{access=udp,mux=ts,dst=192.168.1.10:1236}}

On the laptop with the IP Adress 192.168.1.10 open a VLC UDP Stream on Port 1236, either with the “Open Network Stream” Wizzard. or with a *.bat file with following commands:

cd C:\Programme\VideoLAN\VLC\
start vlc -vvv udp://@:1236

Now you can see on your screen what the robot is seeing.

The basic figures and the Kondo-Robot we are playing with has 19 servo motors, which are provided to have DOR (degrees of rotation) with 0-270 degrees. The GUI (graphical user interface) HearttoHeart program provided with the KBot (Kondo-Robot) is designed to work on 24 servo motors. Also the controllers on the Kbot has space to add in the additional modules like any sensors and actuators.

One can program the KBot by creating a .csv file in Ms.Excel. This file is fed into the H2H (Heart to Heart) software which helps in writing the program onto the KBot. The H2H software also has a synchro option which is helpful for the real time movement of the KBot. This software also helps in reading out the values from the bot. The preliminary research made on the KBot and the GUI resulted in knowing the importance of the initial values (initial orientations of the servo motors) in programming the KBot. One can find the initial orientations (i.e when the KBot is standing) of the servo motors in the Initial Orientations file. These values were provided with the KBot and can be changed in the HTH.ini file provided with the software.

First observation was, i am unable to read the written .csv file into the H2H software as it is. The orientations were changed when imported into the H2H software. I have come to know that the changes are effected by the initial orientations (what ever the values we edit in the HTH.ini file) of the motors. One needs to take care that the initial orientations are summed up to the programmable values in order to result the desired outputs. This results in the correct program of the bot.