Robobot on Raspberry PI

Revision as of 22:04, 29 January 2020

Back to Robobot

Clean Raspberry Pi

This section contains the complete instructions for setting up a clean Raspberry Pi.

Click on the link below to go the instructions.

Raspberry Full installation instructions including opencv-3, but stop before "Mobotware".

Windows tools

Use winscp (from https://winscp.net/eng/download.php?TB_iframe) to move files to and from the raspberry pi.

Use putty (from https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) to get terminal access to the raspberry.

To connect to raspberry using a cable (from raspberry direct to a PC) requires that both has a manually set IP adress. The Raspberry side is 192.168.0.2, and you should probably manually set the IP of your PC to the same local net, e.g. 192.168.0.100.

There is a windows executable client for configuration and setting up the REGBOT part of the ROBOBOT. This is found in 'regbot/qtgui/dist/regbot.exe' in the raspberry, and can be fetched using winscp.

Get ROBOBOT and REGBOR source

This is probably installed already, otherwise use

cd
svn co svn://repos.gbar.dtu.dk/jcan/regbot
ln -s regbot/mission
ln -s regbot/robobot_bridge
ln -s regbot/qtgui

Update ROBOBOT source

On the raspberry there is the following directories:

$ cd ~/regbot
  ls
  mission          Mission software skeleton that can also access the raspberry camera
  qtgui            Copy of the configuration gui (python files), and a windows executable in the 'dist' subdirectory
  regbot           Firmware for the REGBOT part
  robobot_bridge   The connection software between the REGBOT, the small display, the remote control and the mission software

Or they may be in the home directory

$ cd
  ls
  mission          Mission software skeleton that can also access the raspberry camera
  qtgui            Copy of the configuration gui (python files), and a windows executable in the 'dist' subdirectory
  regbot           Firmware for the REGBOT part
  robobot_bridge   The connection software between the REGBOT, the small display, the remote control and the mission software

Update

All these source directories are already connected to a SVN repository, but probably need update, by

cd 
cd mission
svn up
cd ../qtgui
svn up
cd ../regbot
svn up
cd ../robobot_bridge
svn up

Compile

If there are updates, then they need a recompile (except qtgui).

Mission and Robobot_bridge has a 'build' subdirectory with a Makefile, REGBOT has the Makefile in the base directory.

Type

cd ~/robobot_bridge/build
make -j4
cd ~/mission/build
make -j4

to compile

If there is no makefile in the build directory, then make one first by

cd build
cmake ..

REGBOT software

The REGBOT software is in the ~/regbot/regbot directory

To compile it for the REGBOT version 4 hardware with a Teensy 3.5 processor board, go to the '3.5' subdirectory

cd ~/regbot/regbot/3.5
make -j4

If successful a regbot.hex file is generated and should be uploaded to the REGBOT Teensy 3.5 processor.

This can be done from a console with X-messages enabled.

ssh -X local@solvej.local

if the robot is 'solvej'.

NB! While programming all the pins on the processor are released, including the one maintaining power to the robot. This means that the red button on the board MUST be pressed during the MAKE UPLOAD command

cd ~/regbot/regbot/3.5
make upload

See the regbot directory for more details.