After a hard day, sharky rests in our living room.
Today we wired things together properly. Using a Vaadin UI and the Mosquitto M2M server to transfer rc commands to sharky. And sharky was following them properly.
We also implemented a JUnitTest that observes ultra sonic sensors. Sharky was controlled by the integration test and had to come close to the ultra sonic sensors. Then a shark alarm was sent by beagle bone and integration test became green.
Vaadin Web UI
For now the Vaadin Web UI is very simple. You can specify a value for left, right, dive and arise. The scaler at the right side controls the speed. And an emergency stop is implemented by “ESC”.
The alarm fence TextField specifies the minimum distance sharky may come close to the ultra sonic sensors. After falling below that distance “SHARK ALARM” is triggered.
The log table in the lower side shows all commands that have been sent to the M2M server. They will be translated into hardware GPIO outputs by beagle bone black. Beagle bone therefore uses the eclipse mihini project and a lua MQTT client.
On monday we have the last test flight in a hall, before we are leaving to our keynote on tuesday morning.