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build_your_own [2019/04/25 14:31] – [Start your Beagle Bone Blue] grafbuild_your_own [2019/04/25 15:30] – [Start the EEDURO application] graf
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 ====== Build the Software ====== ====== Build the Software ======
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- 
  
 ===== Preparations ===== ===== Preparations =====
 ==== Linux ==== ==== Linux ====
 You need any 64-Bit Linux Version (VM or standalone). You need any 64-Bit Linux Version (VM or standalone).
- 
- 
- 
- 
  
 ==== Start your Beagle Bone Blue ==== ==== Start your Beagle Bone Blue ====
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   * Connect the micro USB with the PC.   * Connect the micro USB with the PC.
   * It takes about 15 seconds until the Beagle Bone Blue is powered up and another 15 seconds until a network adapter is shown on your host pc. Open a Terminal and check if this network is already available.    * It takes about 15 seconds until the Beagle Bone Blue is powered up and another 15 seconds until a network adapter is shown on your host pc. Open a Terminal and check if this network is already available. 
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 ===== Build the EEDURO software===== ===== Build the EEDURO software=====
-Clone the git repository from [[https://github.com/eeduro/eeduro-scripts|EEDURO]]. Go into the ''delta'' folder and run the ''clone.sh'' script. This will clone all the necessary repositories to build and run the delta application. +Clone the git repository from [[https://github.com/eeduro/eeduro-scripts|]].  
-The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application.  +<code> 
-At the time of writing, the BeagleBone Blue Boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. When using the clone.sh script, the right version is checked out per default and no additional step is needed. +$ git clone https://github.com/eeduro/eeduro-scripts.git 
 +</code> 
 +Go into the ''delta'' folder and run the ''clone.sh'' script.  
 +<code> 
 +$ ./clone.sh 
 +</code> 
 +This will clone all the necessary repositories. 
 + 
 +The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application. At the time of writing, the BeagleBone Blue Boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. When using the clone.sh script, the correect version is checked out per default and no additional step is necessary. 
  
 To compile the library, change into: To compile the library, change into:
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-===== Start the EEDURO application ===== 
-Before starting the EEDURO application plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run.\\ 
-First put the TCP in the lower position. SSH onto the BealgeBone and run 
-<code> 
-debian@beaglebone:$ rc_test_motors -m 1 -d 1 
-</code> 
-This should pull the TCP into the direction of the motor and raise it a little. Check this for all 3 motors. 
-<code> 
-debian@beaglebone:$ rc_test_motors -m 2 -d 1 
-debian@beaglebone:$ rc_test_motors -m 3 -d 1 
-</code> 
-If a motor turns in the opposite direction, change the + and - wire from the motor (there will be a solution where you can change the sign in the HwConfigBBBlue.json, but not for now). 
-\\ 
-\\ 
-Also you have to check the direction of the encoder. Once again, lower your TCP and run 
-<code> 
-debian@beaglebone:$ rc_test_encoders  
-</code> 
-on your target. When raising the TCP the encoder values should be positive. Change each negative encoder from 
-<code> 
-"scale": [ { "id" : "gear", 
- "minIn": 0, "maxIn": 1, 
- "minOut": 0, "maxOut": 76 }, 
-    { "id" : "enc", 
- "minIn": 0, "maxIn": 6.283185307179586476925286766559, 
- "minOut": 0, "maxOut": 4096}, 
-    { "id" : "fqd", 
- "minIn": 0, "maxIn": 1, 
- "minOut": 0, "maxOut": 4} 
- ], 
-</code> 
-to (changed sign in id:enc) 
-<code> 
-"scale": [ { "id" : "gear", 
- "minIn": 0, "maxIn": 1, 
- "minOut": 0, "maxOut": 76 }, 
-    { "id" : "enc", 
- "minIn": 0, "maxIn": -6.283185307179586476925286766559, 
- "minOut": 0, "maxOut": 4096}, 
-    { "id" : "fqd", 
- "minIn": 0, "maxIn": 1, 
- "minOut": 0, "maxOut": 4} 
- ], 
-</code> 
-Check the encoder and gear values and adjust them if necessary. 
-After that you can run the EEDURO application. 
-<code> 
-debian@beaglebone:$ cd /opt/eeros/bin 
-debian@beaglebone:$ sudo ./delta -c HwConfigBBBlue.json 
-</code> 
- 
-You'll find the software description of the EEDURO application [[http://hw.eeros.org/eeduro/start#software|here]]. 
  
 ===== Playing with the Delta robot ===== ===== Playing with the Delta robot =====