RobotSoccerBluetoothServer

From Merlin Systems Wiki

The Sena 'Parani-MSP' Bluetooth Server is used to make larger numbers of simultaneous Bluetooth links at a time (above 2-3).
The server converts bluetooth links to TCP/IP connections.

New with version 2.6 of the Robot Soccer Engine. The Bluetooth server means that all the robots are now able to automatically connect to the server when turned on, rather than having to manually configure each robot as in version 2.5 -> greatly simplifies setting up the system (once the initial configuration is complete :-)
Note: also needs robot OS v3.3b or above (see Miabot Pro Design or Miabot Pro Build for the binary firmware)

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Setup

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Resources needed before starting

  • Refer to parani-msp Parani MSP100 User Manual.
  • Download and install MSP100 Configuration Software = the 'Parani MSP Tool'. (Can also install from the Sena disk)
  • Download and install COM port re-director (on the Sena disk - make sure the server is plugged in because it is licensed against the MSP).



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Connections

Physical connections on the msp -

  • WAN connection -> external (EXT) port (straight-through cable)
  • switch selector towards the 'folder' icon for TCP/IP use

Plug in the optional dongle in for 14 simultaneous connections
Note:

  1. you also need to reconfigure the MSP server to enable this - see manual
  2. only Sena dongles work for this


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Initial MSP configuration

To configure the MSP, the default security settings are :- 

user: admin
pass: 11111

The default network settings when the MSP is received from the factory are :- 

IP: 192.168.1.10
Port: 2525

If these aren't suitable, first connect to the MSP via its serial port (see manual). Otherwise, you can control it either with the above 'ParaniMSP Tool', or through a web browser (see manual again).

All the robots need to be configured with the address of the Bluetooth MSP server so they can auto-connect with this device when turned on: Once connected to the MSP server, go to the MSP Information page, and note the Bluetooth address e.g. 00:0b:53:20:01:7d which will be needed for this.


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Configuring Robots

  • Connect to robot using Bluetooth dongle
  • Connect to serial port service (click on the port icon) (the blue led on the robot should go out)
  • Use hyperterminal to initiate a connection to the new com port (e.g. com7)
  • type "[t]" : A response should comes back from the robot, e.g. "<test#00>" (while typing command, the blue led should come on)

(Notes: All commands are sent to the robot enclosed in [], the first character is a command type (@)and the remainder is a command specific argument (find out more about commands in the Pro User Manual v1.3.pdf miabot pro user manual). )

  • Type the commands below into the terminal window (if you do not see anything turn on echo). Also remember delete or backspace does not work so you need to type the command correctly first time.


The command below stores the address of the MSP server to connect to when turned on (and autoconnect mode is enabled):- 

[@xx:xx:xx:xx:xx:xx] - store address of MSP server to connect to on powerup
[.aEN=1]             - enable auto-connect

(find the xx:xx:xx:xx:xx:xx address from the MSP server, as described above)

  • Turnoff the robot.
  • Unpair the connection from the PC Bluetooth dongle software.
  • Turn on the robot.
  • Check using the Parani-MSP software that the new robot connects and arrives in the list (connections tab) with the default port 5000 - this may take 60 seconds.
  • Configure the port to desired number using advanced configuration button in Parani-MSP. Generally we start known devices at port 6000
  • Note: When the dip-switches are set to 11x1(13) then autoconnect mode is disabled. This is useful if you wish to connect to a robot from a dongle because of the continuous connection attempts.


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COMport redirector software

Select the COM port and then setup redirection to the TCP/IP port setup in the previous step. The comms mode should be set to Telnet (otherwise you get an auth failed msg after a few minutes).
Reboot the PC to effect this change
Repeat these steps for all robots required


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Robot Soccer Engine

Connect to each robot as if on an ordinary serial port: The ports are the 'virtual' ones produced by the COMport redirector. The serial settings used have no effect.

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