Robobot

Latest revision as of 14:45, 31 May 2024

This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.

Figure 1. Robobot, The robot is a 3D-printed box with wheels and some electronics. The third, fourth and fifth generations are shown here. The 3D printed parts can be found here https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863

[edit] Overview

Note: Not valid (mostly) for the 2024 version of the robot

[edit] hardware

ROBOBOT is based on a navigation box with a line sensor (Edge sensor), an IR distance sensor and possibly some servos, all controlled by a microprocessor. For more intelligent behaviour and more sensors, there is a Raspberry Pi in the box too,

The motors are JGB37-555-EN with an encoder and a 1:10 gearing (up to about 400RPM (or ~6 RPS (rotations per second) on the output axle).

There is a video introduction and demo here https://www.youtube.com/watch?v=6dNr_F0dsHw (from 2022 - slight changes since)

[edit] Navigation box overview

Figure 2. ROBOBOT is an extension of the robot REGBOT. The REGBOT part controls the wheels and interfaces to the sensors, like an IMU (6-axis accelerometer and gyro), IR distance sensors (2), and a line edge detector. The REGBOT further controls up to 5 servos and controls the battery supply. ROBOBOT is further equipped with a Raspberry Pi to allow more complicated missions. The Raspberry Pi runs an interface process called "Bridge" and is the main interface to the REGBOT. The mission process collects data from the bridge and the REGBOT and supplies small mission code snippets to be executed by the REGBOT part. The mission process may use the camera and the Open-CV library functions. The speaker allows debugging messages or other sound effects.

The ROBOBOT functions are available on the net at port number 24001. The existing user interface for REGBOT can access REGBOT functions from this port.

The gamepad can take control of the robot if the mission fails and can be used to initiate missions or other functions.

[edit] Software description

[edit] Bridge software

The Robobot bridge runs on the Raspberry Pi and is started when the Raspberry Pi starts, with initial commands from an initialization file (bridge.ini).

Robobot_bridge overview

A bridge autostart feature is implemented in the script 'start_bridge.sh' in the home directory of the user 'local'. The is executed after a reboot.

The script can be amended with other commands that should be started after a reboot.

[edit] Mission software

The mission application is the primary user control for the robot.

Robobot mission application overview.

The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.

[edit] Setup issues

[edit] Installation instructions

This installation should be done already, to update see next section.

Raspberry and ROS (not finished)

Network setup (Wifi)

Robobot camera camera setup

Access from Windows and Linux to Raspberry files (and graphics)

Other windows tools - show Raspberry Pi graphics in Windows (usually very very slow)

Regbot GUI python setup and GUI install

See Regbot calibration for sensor calibration.

[edit] Software update

Update of the maintained software is on the SVN (subversion) repository.

SSH to the robot and go to these directories and do an update

cd
svn up svn/fejemis/ROS/catkin_ws/src/bridge
svn up svn/robobot
svn up svn/regbot

An update could look like this

$ svn up svn/fejemis/ROS/catkin_ws/src/bridge
Updating 'svn/fejemis/ROS/catkin_ws/src/bridge':
U    fejemis/ROS/catkin_ws/src/bridge/udataitem.h
U    fejemis/ROS/catkin_ws/src/bridge/ujoy.cpp
Updated to revision 228.

NB! this may cause a conflict if some of the files are changed locally. Look at the filename and if it is not one of yours, then reply 'tc' (short for their conflict solution)

[edit] Compile on bridge changes

If there are updated files for the bridge, then

cd
cd catkin_ws
catkin_make

[edit] Compile and upload on Teensy changes

cd
cd svn/regbot/regbot/4.1
make -j3

This makes a file "regbot.hex" that is then to be loaded as the new firmware on the Teensy processor.

There is a script that can do that from the command line:

./upload.sh

It will say something like

$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Waiting for Teensy device...
 (hint: press the reset button)

Press and hold the "POWER ON" and then press the button on the Teensy board.

The "POWER ON" button maintains power to the Raspberry Pi and the Teensy while uploading.

It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say

$ ./upload.sh
Teensy Loader, Command Line, Version 2.2
Read "regbot.hex": 314368 bytes, 3.9% usage
Found HalfKay Bootloader
Programming.............................
Booting

If you released the "POWER ON" in the process, the Raspberry Pi would power down. You then need to hold the "POWER ON" until the Raspberry has booted; you then re-login and rerun the script.

[edit] Make the upload.sh

If you have the "upload.sh", this step is not needed.

The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .

On a Raspberry you first need to install a USB library:

sudo apt install libusb-dev

Then get the code:

cd ~/git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make

You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory

cp teensy_loader_cli ~/svn/regbot/regbot/4.1/

Make the "upload.sh" script

cd ~/svn/regbot/regbot/4.1
nano upload.sh

Insert the following into the script:

#!/bin/bash
./teensy_loader_cli -v -w --mcu=TEENSY41 regbot.hex

Save with ctrl-s and exit with ctrl-x

Make the script executable

chmod +x upload.sh

[edit] old instructions

Partially valid only.

Install on raspberry on a clean SD-card - raspi-config.

Setup user local adding a new user.

Linux tools - packages to install.

Access from PC (Linux or Windows).

Other windows tools - run graphics from Windows

Instructions for getting started - primarily network, Linux intro and wifi setup.

[edit] REGBOT setup

Several parameters in the REGBOT part of the robot need setting.

Some suggestions are provided here using the REGBOT GUI (available on the raspberry in the 'regbotgui' directory, and in a Windows version):

Regbot settings

[edit] Hardware

The Robobot frame is 3D printed, the design is in onshape - see this link https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863 , in the list of parts to the left it is possible to export (right-click) as STL files, that you can slice for your 3D printer.

[edit] Navigation box assembly

There are video-instructions on the course page.

Robobot

Latest revision as of 14:45, 31 May 2024

Contents

[edit] Overview

[edit] hardware

[edit] Navigation box overview

[edit] Software description

[edit] Bridge software

[edit] Mission software

[edit] Setup issues

[edit] Installation instructions

[edit] Software update

[edit] Compile on bridge changes

[edit] Compile and upload on Teensy changes

[edit] Make the upload.sh

[edit] old instructions

[edit] REGBOT setup

[edit] Hardware

[edit] Navigation box assembly

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@@ Line 3: / Line 3: @@
 <!--[[File:onshape-view.png|400px]] -->
 [[File:robobot_v5.png|400px]]
+[[File:melina_b.jpg|250px]]
+[[File:model-black.jpg | 450px]]
+Figure 1. Robobot, The robot is a 3D-printed box with wheels and some electronics.
+The third, fourth and fifth generations are shown here.
+The 3D printed parts can be found here https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863
-Figure 1. Robobot, - see drawing https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863
+== Overview ==
+Note: Not valid (mostly) for the 2024 version of the robot
-== Overview ==
 ===hardware ===
-[[File:robobot-solvej-robot-ann.png | 300px]]
-[[File:robobot-solvej_line-sensor-ann.png | 300px]]
-ROBOBOT based on navigation box with line-sensor (Edge sensor) and IR distance sensor. In this case with big rear wheels and two castor front wheels.
+ROBOBOT is based on a navigation box with a line sensor (Edge sensor), an IR distance sensor and possibly some servos, all controlled by a microprocessor.
-To the right is a bottom view with line-sensor and motors visible.
+For more intelligent behaviour and more sensors, there is a Raspberry Pi in the box too,
-The motors in the image are JGB37-545 with encoder and a 1:10 gearing (max 600RPM out).
+The motors are JGB37-555-EN with an encoder and a 1:10 gearing (up to about 400RPM (or ~6 RPS (rotations per second) on the output axle).
-=== Navigation box software===
+There is a video introduction and demo here https://www.youtube.com/watch?v=6dNr_F0dsHw (from 2022 - slight changes since)
+=== Navigation box overview===
 [[File:robobot-overview.png | 500px]]
-Figure 2. ROBOBOT is an extension of the simpler robot REGBOT. The REGBOT part controls the wheels, interfaces to sensors like an IMU (6 axis accelerometer and gyro), IR distance sensors (2), and a line edge detector. REGBOT further controls up to 3 servos and controls the battery supply. ROBOBOT is further equipped with a Raspberry Pi to allow more complicated missions. On the Raspberry Pi runs an interface process called robobot_bridge, this interfaces to a small 5-line display, to a game-pad and is the main interface to the REGBOT. The mission process collects data from the bridge and from ROBOBOT, and supplies the REGBOT with small mission code snippets. The mission process further holds the interface to the Raspberry Pi camera and may use the Open-CV library functions. The speaker allows debugging messages or other sound effects.
+Figure 2. ROBOBOT is an extension of the robot REGBOT. The REGBOT part controls the wheels and interfaces to the sensors, like an IMU (6-axis accelerometer and gyro), IR distance sensors (2), and a line edge detector. The REGBOT further controls up to 5 servos and controls the battery supply. ROBOBOT is further equipped with a Raspberry Pi to allow more complicated missions. The Raspberry Pi runs an interface process called "Bridge" and is the main interface to the REGBOT. The mission process collects data from the bridge and the REGBOT and supplies small mission code snippets to be executed by the REGBOT part. The mission process may use the camera and the Open-CV library functions. The speaker allows debugging messages or other sound effects.
 The ROBOBOT functions are available on the net at port number 24001. The existing user interface for REGBOT can access REGBOT functions from this port.
-The gamepad can take control of the robot if the mission fails, and can be used to initiate missions or other functions using the gamepad buttons and axis.
+The gamepad can take control of the robot if the mission fails and can be used to initiate missions or other functions.
 ==Software description==
@@ Line 36: / Line 40: @@
 === Bridge software ===
-The bridge - called robobot_bridge - runs on the Raspberry Pi and is started when the Raspberry Pi starts.
+The Robobot bridge runs on the Raspberry Pi and is started when the Raspberry Pi starts, with initial commands from an initialization file (bridge.ini).
 [[Robobot_bridge]] overview
-The autostart feature is implemented in '/etc/rc.local' with the following line.
+A bridge autostart feature is implemented in the script 'start_bridge.sh' in the home directory of the user 'local'.
-- add also a fix to get the date and time on the DTU network, where the NTP port is blocked.
+The is executed after a reboot.
-Insert this in /etc/rc.local before the "exit 0" line
+The script can be amended with other commands that should be started after a reboot.
- # DTU fix for time over blocked network
- htpdate -q www.linux.org www.freebsd.org
- # bridge start
- cd /home/local/robobot_bridge/build && ./robobot_bridge -a &
 === Mission software ===
@@ Line 56: / Line 55: @@
 [[Robobot mission]] application overview.
-The Mission application is started manually from an ssh console.
+The Mission application is started manually from an ssh console or added to the reboot script 'start_bridge.sh'.
+<!--
 ===Python interface===
@@ Line 63: / Line 62: @@
 [[Python interface]]
+-->
 ==Setup issues==
@@ Line 68: / Line 68: @@
 ===Installation instructions===
-This section contains instructions for setting up a clean Raspberry Pi.
+This installation should be done already, to update see next section.
-[[Install on raspberry]] on a clean SD-card - raspi-config.
+[[Raspberry and ROS]] (not finished)
-[[Setup user local]] adding a new user.
+[[Network setup]] (Wifi)
-[[Network setup]] Wifi and time
+[[Robobot camera]] camera setup
-[[Instructions for getting started]] - primarily network, Linux intro and wifi setup.
+[[Access from Windows]] and Linux to Raspberry files (and graphics)
-[[Access from PC]] (Linux or Windows).
+[[Other windows tools]] - show Raspberry Pi graphics in Windows (usually very very slow)
-[[Other windows tools]] - run graphics from Windows
+[[Regbot GUI]] python setup and GUI install
-[[Linux tools]] - mostly compile stuff, openCV library and Python
+See [[Regbot calibration]] for sensor calibration.
-[[Raspberry Camera API]] - to use camera from C++
+===Software update===
-[[Sound installation]] on Raspberry
+Update of the maintained software is on the SVN (subversion) repository.
-[[Robobot on Raspberry PI]] specifics for ROBOBOT.
+SSH to the robot and go to these directories and do an update
-<!-- [[Full installation instructions]] - like Linux itself, sound and camera and how to connect the Raspberry disk to Windows and Linux computers. -->
+ cd
+ svn up svn/fejemis/ROS/catkin_ws/src/bridge
+ svn up svn/robobot
+ svn up svn/regbot
-===REGBOT setup ===
+An update could look like this
+ $ svn up svn/fejemis/ROS/catkin_ws/src/bridge
+ Updating 'svn/fejemis/ROS/catkin_ws/src/bridge':
+ U    fejemis/ROS/catkin_ws/src/bridge/udataitem.h
+ U    fejemis/ROS/catkin_ws/src/bridge/ujoy.cpp
+ Updated to revision 228.
-A number of parameters in the REGBOT part of the robot need setting.
+NB! this may cause a conflict if some of the files are changed locally.
+Look at the filename and if it is not one of yours, then reply 'tc' (short for their conflict solution)
-Some suggestions are provided here using the REGBOT GUI (available on the raspberry in the 'regbotgui' directory, and in a Windows version):
+=====Compile on bridge changes=====
-[[Regbot settings]]
+If there are updated files for the bridge, then
-=== Hardware ===
+ cd
+ cd catkin_ws
+ catkin_make
-The Robobot frame is 3D printed, the design is in onshape - see this link https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863 , in the list of parts to the left it is possible to export (right-click) as STL files, that you can slice for your 3D printer.
+=====Compile and upload on Teensy changes=====
-The REGBOT part of the hardware is described on the [[Regbot_version_4]] page, e.g. schematics and connector pinout.
+ cd
+ cd svn/regbot/regbot/4.1
+ make -j3
-Connection of the line display to the Raspberry pi is here [[Robobot Hardware]].
+This makes a file "regbot.hex" that is then to be loaded as the new firmware on the Teensy processor.
-[[Castor wheels assembly]].
+There is a script that can do that from the command line:
-[[File:robobot-solvej_indre-ann.png | 800px]]
+ ./upload.sh
-The navigation box opened. The main part is a Raspberry pi and the REGBOT low-level control board with a Teensy 3.5.
+It will say something like
-[[Navigation box assembly]] may look a bit complex, but look here for more details.
+ $ ./upload.sh
+ Teensy Loader, Command Line, Version 2.2
+ Read "regbot.hex": 314368 bytes, 3.9% usage
+ Waiting for Teensy device...
+  (hint: press the reset button)
-=== Navigation box assembly ===
+Press and hold the "POWER ON" and then press the button on the Teensy board.
-On this page is a short [[assembly instruction for the navigation box]].
+The "POWER ON" button maintains power to the Raspberry Pi and the Teensy while uploading.
-==Status==
+It will likely fail the first time but keep pressing "POWER ON" and repeat the command, and it should now say
+ $ ./upload.sh
+ Teensy Loader, Command Line, Version 2.2
+ Read "regbot.hex": 314368 bytes, 3.9% usage
+ Found HalfKay Bootloader
+ Programming.............................
+ Booting
+If you released the "POWER ON" in the process, the Raspberry Pi would power down. You then need to hold the "POWER ON" until the Raspberry has booted; you then re-login and rerun the script.
+=====Make the upload.sh=====
+If you have the "upload.sh", this step is not needed.
+The command line upload is described here https://www.pjrc.com/teensy/loader_cli.html .
+On a Raspberry you first need to install a USB library:
+ sudo apt install libusb-dev
+Then get the code:
+ cd ~/git
+ git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
+ cd teensy_loader_cli
+ make
+You should now have a "teensy_loader_cli" file; copy this to the svn/regbot/regbot/4.1 directory
+ cp teensy_loader_cli ~/svn/regbot/regbot/4.1/
+Make the "upload.sh" script
+ cd ~/svn/regbot/regbot/4.1
+ nano upload.sh
+Insert the following into the script:
+ #!/bin/bash
+ ./teensy_loader_cli -v -w --mcu=TEENSY41 regbot.hex
+Save with ctrl-s and exit with ctrl-x
+Make the script executable
+ chmod +x upload.sh
+== old instructions ==
+Partially valid only.
+[[Install on raspberry]] on a clean SD-card - raspi-config.
+[[Setup user local]] adding a new user.
+[[Linux tools]] - packages to install.
+[[Access from PC]] (Linux or Windows).
+[[Other windows tools]] - run graphics from Windows
+[[Instructions for getting started]] - primarily network, Linux intro and wifi setup.
+<!-- [[Full installation instructions]] - like Linux itself, sound and camera and how to connect the Raspberry disk to Windows and Linux computers. -->
+==REGBOT setup ==
+Several parameters in the REGBOT part of the robot need setting.
+Some suggestions are provided here using the REGBOT GUI (available on the raspberry in the 'regbotgui' directory, and in a Windows version):
+[[Regbot settings]]
+=== Hardware ===
+The Robobot frame is 3D printed, the design is in onshape - see this link https://cad.onshape.com/documents/fef8699fcafb8aea780c8981/w/ce38e7fdd6cf8533b65e2c3c/e/4792e876b254f8e35059f863 , in the list of parts to the left it is possible to export (right-click) as STL files, that you can slice for your 3D printer.
+=== Navigation box assembly ===
-Some status for individual ROBOBOT robots may be available here.
+There are video-instructions on the course page.
-[[ROBOBOT status]]