CPSC 483: Senior DesignCritical Design ReviewMarch 5, 2003Wireless Robot Control with a Personal Digital AssistantTa-Chang ChaoQuang DangMatt DeanBrady Wied2Introduction...........................................................................................................................................................3Subproject Progress and Planning.....................................................................................................................3Knowledge Development and Training ............................................................................................................3Embedded Visual C++ (eVC++)..................................................................................................................3Pocket PC Emulator......................................................................................................................................4Microsoft Foundation Classes (MFC) .........................................................................................................4ActivMedia Robotics Interface for Applications (ARIA)...........................................................................4GapiDraw......................................................................................................................................................4Bluetooth communications protocol ............................................................................................................5Porting ARIA to the Pocket PC.........................................................................................................................5ARIA DLL Production .......................................................................................................................................6User Interface Development..............................................................................................................................7Sonar Display................................................................................................................................................7On-Screen Joystick .......................................................................................................................................8Interactive Map.............................................................................................................................................8Component Integration...............................................................................................................................10Establishing Pocket PC to Robot Communication.........................................................................................11Developing the Robot Application ..................................................................................................................11Potential Problems..............................................................................................................................................11Updated Project Schedule .................................................................................................................................12Conclusion ...........................................................................................................................................................123IntroductionThe purpose of this Critical Design Review is to present and analyze both the current andprojected states of our project. For each aspect of the project we have taken a step backand asked three questions: Where are we, where should we be, and where do we go fromhere? We are confident that we will successfully reach our goal in the near future, but tofacilitate proper development and make sure that we are on the right track we need toanalyze our progress so far.The content of this design review is organized according the project’s various modules,or subprojects. These are: Knowledge Development and Training, Porting ARIA to thePocket PC, ARIA DLL Production, User Interface Development, Pocket PC to RobotCommunication, and the Robot Application. We then present potential problems andsources of delay, our updated schedule, and final remarks concerning the project.Subproject Progress and PlanningKnowledge Development and TrainingDuring the course of this project, each of the team members has been faced with thechallenge of learning a new development paradigm. This includes learning severalprogramming languages and APIs along with the features and limitations of each. Mostof our team’s time to this point has been devoted to learning these new languages andtechniques The main areas that we have had to educate ourselves on are outline below.Embedded Visual C++ (eVC++)Embedded Visual C++ (eVC++) is a subset of Microsoft’s Visual C++ that is specificallydesigned for mobile devices running Windows CE including the Pocket PC device thatwe are using. The major limitations of eVC++ are that many of the dynamic librariesavailable on desktop machines are unavailable for Windows CE and that several commonfeatures of C++ such as RTTI and throwable errors are not implemented in the currentversion of eVC++ (version 3.0). These limitations were a significant problem during theporting of ARIA and will be discussed in more detail in the section describing the ARIAport.4Pocket PC EmulatorThe Pocket PC Emulator has proven to be an invaluable tool during our developmentprocess as it allows each of us to write software for the iPAQ without having to use theactual hardware, but the emulator has several nuances that we have each had to becomeacquainted with.Microsoft Foundation Classes (MFC)The Microsoft Foundation Classes (MFC) is an API that is often used to developwindows-based applications for both PCs and Pocket PCs. We initially envisioned this asthe main foundation for our user interface development, so each of the team members hasspent some time learning how to program graphics using MFC. After further researchour team has decided to use a different technology called GapiDraw (detailed below) forour user interface, but the knowledge gained about MFC will still be valuable to the teammembers.ActivMedia Robotics Interface for Applications (ARIA)ActivMedia Robotics Interface for Applications (ARIA) is a development API written inC++ that the robotics team at ActiveMedia, the makers of our robot, has provided for us.This API was created to facilitate object-oriented development of robot