ROBO TX : DLLs

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DLL's for running the ROBO TX Controller

Programming the fischertechnik Robo TX Controller is supported by a number of DLL's. The DLL's can be used from different programming languages.

 

Notice (05.04.11) : The DLL's only can operate with the older RoboPro v2.1.4.2 and firmware v1.18 (64 computers included). An operation with the actual v3.10 is not possible in the moment because of there is no updated fischertechnik ftMscLib available.

If RoboPro 3.10 already is installed and you want to work with v2.1.4.2 again, do the following : Deinstall RoboPro v3.10, install an older version from CD, Update to v2.1.4.2 (UpdateDE) and than reset the firmware of the TX Controller to v1.18 via the Interface Test (Some messages, that will come up, can be ignored). 

ftMscLib.DLL

All DLL's are based on the ftMscLib.DLL from fischertechnik. Therfore they are needed in each case. They can be downloaded as "PC Programming ROBO-TXC 1.2" from www.fischertechnik.de | Computing | Downloads. The download contains in addition the 32/64bit Driver and the TestPanel "Robo-TxTest.exe"

umFish50.DLL

Based on ftMscLib.DLL (used too from Robo Pro).

umFish50.DLL first is a base for building own libraries, but it is possible to construct (smaller) applications.

The structure of umFish50.DLL is similar to its predecessor umFish40.DLL. But it only supports the Robo TX Controller. It supports the following functions for the access to the TX Controller :

  • TX Controller
  • txOpenController : Make a connecton to the TX Controller
  • txCloseController : Terminate the connection to the TX Controller
  • Universal inputs
  • txGetAnalog : Readout A5K-Input(NTC, PhotoResistor, Potentiometer)
  • txGetDistance : Readout Distance-Input (DistanceSensor)
  • txGetInput : Readout D5K-Input (Switch, Reedkontact, Phototransistor)
  • txGetTrack : Readout D10V-Input("halve" TrailSensor)
  • txGetVoltage : Readout A10V-Input (ColorSenso, Voltage)
  • CounterInputs
  • txGetCounter : Readout of the actual counter value
  • txClearCounter : reset the counter
  • Outputs
  • txSetLamp : switch an O-Output
  • txSetMotor : Switch an M-Output
  • txStartMotor : Starting of a motor with impulse counter and end switch
  • txIsMotorReady : Checking if destination is met. 

umFish50.DLL internally makes use of the MultiMediaTimer to control the motors with impulse counters (RobMotors) more exactly. Motors startet with txStartMotor are switch off, if destination is reached. If ESC-Key is pressed, they are switched off too.

Supported Programming Languages

  • C# 2005 / 2008
  • VB 2005 / 2008
  • C/C++
  • Delphi

Supported are the needed declaration files and a small HelloFish program.

umFish50.DLL is constructed to allow an access from other languages too.

Downloads

Documentation : umFish50.PDF (german, more complete), umFish50e.PDF (english)
Software (german documentation included) : umFish50.ZIP

javaFish50.DLL

Is a wrapper.DLL which capsulates the umFish50.DLL in a JNI conform manner. The supported TX Controller function are the same. In addition the function for escape, getTickCount and sleep are supported contained in a class JavaFish. In addition a HelloFish (Eclipse 3.4 version).

Downloads

look to ftcomputing.roboTX.jar

FishFaceTX.DLL

An assembly written in C# 2005 for use with the .NET languages. The class FishFace contains the basic methods of umFish50.DLL in a .NET compliance form. In Addition some Wait-Methods for Inputs and Motors.

To support an device concept for the different inputs and outputs of the TX Controller FishFaceTX.DLL contains some more special classes for the sensors connected to the inputs and the motors.

The download package contains the compiled DLL and their sources.

Supporting Programming Languages

Example : Dreipunktregelung with variations and the Turm von Hanoi also the Robo Explorer with Joystick
 
Beispiele : Dreipunktregelung,
Geschwindigkeitsmessung, Drehzahlprüfstand, Radarturm, Reaktionstest and Turm von Hanoi

Downloads

C# 2005 / 2008 / 2010

Documentation(german) part 1 Common, class FishFace FishFaTXCS.PDF
Documentaton(german) part 2 Device-Klassen FishFaTXCSdev.PDF
Software (documentation included) FishFaceTXCS.ZIP

VB2005 / 2008 / 2010

Documentation(german) : FishFaTXVB.PDF
Software documentation included FishFaceTXVB.ZIP

ftcomputing.roboTX.jar

Java version of the class FishFaceTX as jar.
Testet with Java 6 and Eclipse 3.4 / BlueJ

Example : Dreipunktregelung and Turm von Hanoi, the download package contains in addition BlueJ examples for beginners and a tutorial for Industry Robots
  Ralf Taugerbeck has constructed for the actual programming language Scala
(based on Java) a class library scalafish (Download) the library is based on umFish50.DLL and is using the more actual  JNA-Interface

 

Downloads

Documentation(german) : Eclipse34FishTX.PDF
Software (documentation included) : JavaFish50.ZIP

Python 3.1.1 und FishFaTX.py

Update of FishFa40.py to FishFaTX.py in a version for the Robo TX Controller and 
Python 3.1.1

Examples : Drehzahlprüfstand, Reaktionstest,  Radarturm and HanoiTower

Downloads

Documentation(german) : FishFaTXPy311.pdf
Software (documentation included) : PythonFish311.ZIP bundled with a Python 3.1.1 Update for the Robo Interface.

Last Change : 05.04.2011