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| ==Motors== | | ==Motors== |
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| Where to connect the cameras???? Sensors??? | | Where to connect the cameras???? Sensors??? |
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| ==Computation power==
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| '''Debian Linux installation on the PC104'''
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| Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)
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| Linux version 2.6.24-etchnhalf.1-686
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| The repositories of this version are not online anymore, so in order to install the system, you should:
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| *Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
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| *During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.
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| '''Installation of PCAN bus driver'''
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| The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,
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| 1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:
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| PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi
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| It is recommended to add this variable to the /etc/bash.bashrc (as root)
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| export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi
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| 2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.
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| 3) Compilation of the iCub repository, which it needs to enable the follwing flags:
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| ENABLE_icubmod_pcan
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| ENABLE_icubmod_canmotioncontrol
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| ENABLE_icubmod_dragonfly2
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| ENABLE_icubmod_logpolarclient
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| ENABLE_icubmod_logpolargrabber
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| ENABLE_icubmod_xsensmtx
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| ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.
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| '''Start up script for PCAN bus driver'''
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| Add the following lines to /etc/rc.local script:
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| declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi
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| bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"
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| The lines above allow the PLX module loading during the pc104 boot.
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| '''Enviroment variables for running the iCubInterface'''
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| Add the following lines to /etc/bash.bashrc (as root)
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| export ICUB_DIR=/iCub
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| export ICUB_ROOT=/iCub
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| export YARP_DIR=/yarp2/build
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| export YARP_ROOT=/yarp2
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| We recommend to add the lines above before the following lines on /etc/bash.bashrc
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| # If not running interactively, don't do anything
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| [ -z "$PS1" ] && return
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| The proper placing of the environment variables will allow to access their values on a non-interactive login.
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| '''Enviroment variables for remote login'''
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| For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:
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| /source /etc/bash.bashrc
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| '''Dragonfly2'''
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| The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:
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| chmod a+rw /dev/raw1394
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| in order to allow all the users to access the firewire devices.
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| '''Segway RMP 50'''
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| The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed.
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| In order to compile Player properly, you may have to edit /usr/include/canlib.h and comment out the definitions for DWORD, HANDLE, and BOOL.
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| After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:
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| driver
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| name "linuxjoystick"
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| provides ["joystick:0" ]
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| requires ["position2d:0"]
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| alwayson 1
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| timeout 0.0
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| max_speed [ 3.0 3.0 30 ]
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| port "/dev/input/js0"
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| )
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| driver
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| name "segwayrmp"
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| provides ["position2d:0" "position3d:0" "power:0"]
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| bus "usb"
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| usb_device "/dev/ttyUSB0"
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| max_xspeed 1.5
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| max_yawspeed 80
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| )
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| Then, execute
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| player <configFileName>
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| ==Motor Control Boards== | | ==Motor Control Boards== |
Motors
Faulhaber motors
Shell
Still missing the project of one connection
Cabling
Where to connect the cameras???? Sensors???
Motor Control Boards
Head
2x M4C, 1 MCP
status electric specification: projected
status fixation: done
Torso and Shoulder
status electric specification: projected, one may be short in current
status fixation: projected, under verification
Hands
status electric specification: projected
status fixation: under project
Battery
Power demand: ????
Supplier: Kokam
Typical 25A - 5Kg - 16x30x5 cm
Charger:?
Segway
Software to be developed
Payload is over the limit, check
Sensors
Cameras
Dragonfly2
Inertial sensor
XSens
Expressions
Shapes, aesthetics, done
Under definition supports, electronic, ...
Tactile sensors
Still some parts missing, magnets
Sensors bought
Electronic board, waiting for PCB, ...
Software under development
http://www.pressureprofile.com/products-fingertps
Laser
Kyoko
Fixation: inside front cover
Media:Example.ogg
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