CS 123 Programming Your Personal Robot Course Materials

Handouts and Problem Sets

 

• Handout #1: Hamster Manual
• Assignment #1-1: BLE Communication
• Handout #2: Hamster Manual (updated)
• Assignment #1-2: Robot API
• Handout #3: USB-BLE Dongle
• robot_api_sample for Assignment #1-2
• Stanford Hamster API
• Assignment #2-1: Event Driven Programming
• Base Code for Assignment 2-1
• Assignment #2-2: Finite State Machine
• Simple FSM py sample for Assignment #2-2
• Hamster GUI library for Assignment #3
• Hamster joystick example (updated)
• Assignment #3-1: Localization and Navigation
• Assignment #3-2: Localization and Navigation 2
• Final Project Proposal Guidelines
• Assignment #4: Global Localization and Collision Detection
• Event Driven FSM example
• Assignment #4 starter code
• Collision detection code
• Stanford Hamster API v2

 

Lecture Notes

 

• Lecture notes 1   Introduction
• Lecture notes 2   Communication
• Lecture notes 3   BLE & API
• Lecture notes 4   Structure & Mobile
• Lecture notes 5   Event Driven Behavior
• Lecture notes 6   Event Driven Behavior 2
• Lecture notes 7   Finite State Machine
• Lecture notes 8   Hierarchiacal FSM and Behavior Trees
• Lecture notes 9   Reasoning Under Uncertainty
• Lecture notes 10   Localization
• Lecture notes 11   Motion Planning
• Lecture notes 12   Motion Planning and Control
• Lecture notes 13   IO Extensions
• Lecture notes 14   IO Extensions Part 2
• Lecture notes 15   Miscellaneous Topics
• Lecture notes 16   Recap
• Lecture notes 17   Recap 2

 

Readings and References

 

• “Getting started with Bluetooth Low Energy” by Townsend, Davidson, and Akiba, O’Reilly   (Introduction, Chapters 1-4)
• “Core Bluetooth Programming Guide” by Apple, Inc.   (Introduction, Core Bluetooth Overview, Performing Common Central Role Tasks, Best Practices for Interacting with a Remote Peripheral Device)
• “Core Bluetooth Framework Reference” by Apple, Inc.   (Classes: CBCentralManager and CBPeripheral, Protocols: CBCentralManagerDelegate and CBPeripheralDelegate)
• “ An Introduction to PyObjC ” by android.com, Google, Inc.
• “How to Design a Good API and Why it Matters” by Joshua Bloch, Google, Inc.
• “Style Guide for Python Code” by Python Software Foundation (Naming Conventions)
• “ The Hitchhiker’s Guide to Python! ” A Kenneth Reitz Project (Structuring Your Project)
• “ Bluetooth Low Energy (Android API Guides) ” by android.com, Google, Inc.
• “ Hamster Manual ” by Kre8 Technology, Inc.
• “ Programming Paradigms ”
• “ Event Driven Programming ”
• “ Tkinter ”
• “ Introduction to Finite State Machines ”
• “ Python Advanced: Finite State Machine (FSM) ”
• “ Configuration Space ”
• “ Motion Planning Overview ”
• “ Motion Planning with Uncertainty ”
• “ Potential Field Method Video ”
• “ RRT Planning ”
• “ Human Assisted Funny Video ”
• “ Search ”
• “ Dijkstra ”
• “ Voltage, Current, Resistance, and Ohm's Law ” by learn.sparkfun.com
• “ Analog vs. Digital ” by learn.sparkfun.com
• “ Analog to Digital Conversion ” by learn.sparkfun.com
• “ Pulse-width modulation ” by learn.sparkfun.com
• “ Pulse-width modulation ” by Wikipedia
• “ Low-pass filter ” by Wikipedia
• “ Low-pass filter explained ” by www.learningaboutelectronics.com
• “ Low-pass filter calculator ” by www.learningaboutelectronics.com
• “ Least Square Line of Best Fit ” by HotMath
• “ Residual Values in Regression Analysis ” by statisticshowto.com
• “ Simple Linear Regression ” by Wikipedia

 

Other resources

If you need a Bluetooth BLE dongle for Mac, purchase them here, here, and here.