Zenon Robot Control App V 1.0

A professional Flutter mobile application for controlling the Zenon Robot

Features

🎮 Live Mode

• Real-time joint control with sliders
• Individual control for legs, ears, and wheels
• Motion profile adjustment (velocity & acceleration)
• Instant feedback and updates

🕺 Motions Library

• 60+ pre-programmed motions
• Categorized by type (gestures, movements, expressions, etc.)
• Search functionality
• Filter by category
• Smooth execution with visual feedback

📹 Camera Control

• Live video streaming (2 fps)
• Single image capture
• Camera power control
• Real-time image display
• Auto-refresh in live mode

🎯 Robot Control

• Manual movement controls (D-pad style)
• Robot power management (start/shutdown)
• Face expression control (8 expressions)
• Voice listener toggle
• AI conversation mode
• Quick action buttons

👁️ Vision System

• Object following with real-time tracking
• Object detection using YOLO v8
• Status indicators
• Easy on/off controls

Technical Specifications

Robot API

• Base URL: http://10.255.254.75:8000
• Protocol: REST API with JSON
• Timeout: 10 seconds per request
• Camera refresh: 500ms (2 fps)

Supported Features

• Dynamixel servo control
• DC motor control (wheels)
• Camera streaming
• Audio control
• Face expressions
• Vision processing
• Voice commands
• AI chatbot integration

Installation

Prerequisites

• Flutter SDK (>=3.0.0)
• Android Studio or VS Code
• Android device or emulator
• Network connection to robot (10.255.254.75)

Setup Steps

1. Clone and Navigate

   cd zenon_robot_app

2. Install Dependencies

   flutter pub get

3. Run the App

   flutter run

Building for Release

Android APK:

flutter build apk --release

Android App Bundle:

flutter build appbundle --release

iOS (requires macOS):

flutter build ios --release

Network Configuration

Ensure Robot Connectivity

1. Connect your mobile device to the same network as the robot
2. The robot should be accessible at 10.255.254.75:8000
3. Test connection using the refresh button in the app

Firewall Settings

Make sure port 8000 is open on the robot's firewall:

sudo ufw allow 8000/tcp

App Structure

lib/
├── main.dart                      # App entry point
├── screens/
│   ├── home_screen.dart          # Main navigation
│   ├── live_mode_screen.dart     # Joint control
│   ├── motions_screen.dart       # Motion library
│   ├── camera_screen.dart        # Camera controls
│   ├── robot_control_screen.dart # Manual control
│   └── vision_screen.dart        # Vision features
└── services/
    ├── api_service.dart          # API communication
    └── robot_state_provider.dart # State management

Available API Endpoints

Robot Control

• POST /robot/start - Start robot
• POST /robot/shutdown - Shutdown robot
• GET /robot/state - Get current state
• POST /robot/state - Set joint positions
• POST /robot/update_state - Update joint positions
• POST /robot/run_scenario - Run motion

Camera

• POST /cam/on - Power on camera
• POST /cam/off - Power off camera
• GET /cam/get/image - Get camera image

Vision

• POST /vision/follow_obj/start - Start object following
• POST /vision/follow_obj/stop - Stop object following
• POST /vision/yolo/start - Start object detection
• POST /vision/yolo/stop - Stop object detection

Voice & AI

• POST /robot/listen - Start voice listener
• POST /robot/listen/stop - Stop voice listener
• POST /ai/listen/start - Start AI conversation
• POST /ai/listen/stop - Stop AI conversation

Face Control

• POST /robot_face/expression/{expression} - Set face expression

Motion Library

Categories

• Basic Postures: stand, crouch, tall_stand, etc.
• Gestures: wave, bow, nod_yes, shake_no, etc.
• Ear Expressions: happy_ears, alert_ears, sad_ears, etc.
• Movement: move_forward, turn_left, spin, etc.
• Complex Motions: dance, celebration, crawl, etc.
• Face Directions: face_left, face_right, face_back, etc.
• Utility: calibrate, reset_position, test_all_joints

Troubleshooting

Connection Issues

• Problem: App shows "Offline"
• Solution:
  • Verify robot IP (10.255.254.75)
  • Check network connectivity
  • Ensure API server is running on robot
  • Try manual connection using curl: curl http://10.255.254.75:8000/robot/state

Camera Not Loading

• Problem: Camera shows black screen
• Solution:
  • Toggle camera power off and on
  • Check if camera is working on robot directly
  • Verify camera endpoint: curl http://10.255.254.75:8000/cam/get/image

Motions Not Executing

• Problem: Motions fail to run
• Solution:
  • Ensure robot is started (not just connected)
  • Check robot state in Live Mode
  • Verify motors are not in error state
  • Try calibrate motion first

Development

Adding New Motions

Edit motions_screen.dart and add to the _motions map:

{'name': 'new_motion', 'icon': Icons.icon_name, 'color': Colors.blue}

Modifying API Endpoint

Edit api_service.dart and update the baseUrl:

static const String baseUrl = 'http://YOUR_ROBOT_IP:8000';

Customizing UI Theme

Edit main.dart theme configuration:

colorScheme: ColorScheme.fromSeed(
  seedColor: const Color(0xFF667EEA),
  brightness: Brightness.dark,
),

Dependencies

dependencies:
  flutter:
    sdk: flutter
  http: ^1.1.0              # API communication
  provider: ^6.1.1          # State management
  flutter_svg: ^2.0.9       # SVG support
  cached_network_image: ^3.3.0  # Image caching
  shared_preferences: ^2.2.2     # Local storage

License

This project is proprietary software for the Zenon Robot system.

Support

For issues, questions, or feature requests, please contact the development team.

Version History

v1.0.0 (Current)

• Initial release
• Full robot control features
• Live camera streaming
• Complete motion library
• Vision system integration
• Material Design 3 UI

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Built with ❤️ using Flutter