build_your_own
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build_your_own [2019/04/17 15:19] – [Start the EEDURO application] fink | build_your_own [2019/04/25 15:57] (current) – removed graf | ||
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- | ======== Delta Roboter Tutorial - Build your own controller ======== | ||
- | {{ : | ||
- | ======= Software ======= | ||
- | ===== Preparations ===== | ||
- | ==== Linux ==== | ||
- | * You need any 64-Bit Linux Version (VM or standalone). | ||
- | |||
- | ==== EEDURO ==== | ||
- | * Clone [[https:// | ||
- | |||
- | ==== Credentials of the Beagle Bone Blue ==== | ||
- | * You can login as " | ||
- | |||
- | ==== Start your Beagle Bone Blue ==== | ||
- | |||
- | * 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. | ||
- | < | ||
- | * Connect via ssh to your Beagle Bone Blue | ||
- | < | ||
- | * Defaultpassword is " | ||
- | |||
- | ==== Login ==== | ||
- | The first time you do this you will get a security alert in the console - type " | ||
- | Then enter the password " | ||
- | |||
- | ===== Build the EEDURO software===== | ||
- | Clone the git repository from [[https:// | ||
- | 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 right version is checked out per default and no additional step is needed. | ||
- | |||
- | To compile the library, change into: | ||
- | < | ||
- | $ cd robotics_cape_installer/ | ||
- | </ | ||
- | and edit the '' | ||
- | < | ||
- | CC := gcc | ||
- | LINKER := gcc | ||
- | </ | ||
- | to | ||
- | < | ||
- | CC := arm-linux-gnueabihf-gcc-4.9 | ||
- | LINKER := arm-linux-gnueabihf-gcc-4.9 | ||
- | </ | ||
- | This change is necessary because the library must be compiled with the cross compiler. | ||
- | |||
- | Now, the cross tool chain is installed on the host machine with the following command. | ||
- | < | ||
- | $ sudo apt-get install g++-4.9-arm-linux-gnueabihf | ||
- | </ | ||
- | Then, the roboticscape library is compiled using make. | ||
- | < | ||
- | $ make | ||
- | </ | ||
- | |||
- | Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the delta application with | ||
- | < | ||
- | $ ./make.sh | ||
- | </ | ||
- | |||
- | Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with | ||
- | < | ||
- | $ ./deploy.sh | ||
- | </ | ||
- | The default password on the BeagleBone Blue Board is " | ||
- | |||
- | ==== Notes ==== | ||
- | When the BeagleBone Blue Board is used the first time (never used with EEROS before or a brand new BeagleBone Blue / Image), some initial setup steps are needed. The script **deploy.sh** will copy the executable and libraries to **/ | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | |||
- | Also, some links must be created. The system must find the eeros libraries to load them. The following symbolic links are needed: | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | Make sure the version information (....so.1.0.0.0) is not outdated! This can be checked by browsing the **BeagleBoneBlue/ | ||
- | |||
- | |||
- | ===== 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 | ||
- | < | ||
- | debian@beaglebone: | ||
- | </ | ||
- | This should pull the TCP into the direction of the motor and raise it a little. Check this for all 3 motors. | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | 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, | ||
- | \\ | ||
- | \\ | ||
- | Also you have to check the direction of the encoder. Once again, lower your TCP and run | ||
- | < | ||
- | debian@beaglebone: | ||
- | </ | ||
- | on your target. When raising the TCP the encoder values should be positive. Change each negative encoder from | ||
- | < | ||
- | " | ||
- | " | ||
- | " | ||
- | { " | ||
- | " | ||
- | " | ||
- | { " | ||
- | " | ||
- | " | ||
- | ], | ||
- | </ | ||
- | to (changed sign in id:enc) | ||
- | < | ||
- | " | ||
- | " | ||
- | " | ||
- | { " | ||
- | " | ||
- | " | ||
- | { " | ||
- | " | ||
- | " | ||
- | ], | ||
- | </ | ||
- | Check the encoder and gear values and adjust them if necessary. | ||
- | After that you can run the EEDURO application. | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | |||
- | You'll find the software description of the EEDURO application [[http:// | ||
- | |||
- | ===== Playing with the Delta robot ===== | ||
- | After starting the EEDURO application of the Delta robot you'll get the following procedure: | ||
- | - all motors move to the uppermost position | ||
- | - short delay | ||
- | - axis motors move to the homing position | ||
- | - motor of the electromagnet gets homed -> electromagnet should be centered | ||
- | |||
- | The intialization process is now finished and the green and blue LED light up. If you press the green button, the Delta starts it's normal operating mode. If you press the blue button 3 times, the robot will move to it's parking position and power down. When pressing the green and blue button, the calibration mode gets started.\\ | ||
- | \\ | ||
- | In normal operating mode you can get control of the Delta robot. When sorting is finished, it will move the to home position and wait for 5 seconds. In this time you can move the mouse or press any mouse button to control it. By moving the mouse left/right or for-/ | ||
- | \\ | ||
- | Press the blue button to stop the Delta robot from it's normal operating mode. This will stop the current movement, raise the TCP and put it back to it's homing position. From there you can move on with the steps described two sections above.\\ | ||
- | \\ | ||
- | In case of an emergency the red LED lights up. This happens when you push the red button. In this case you have to press the green button to move on. The Delta will perform it's homing and stays in it's homing position. | ||
- | \\ | ||
- | |||
- | ===== Calibrate the Delta robot ===== | ||
- | If you need to calibrate the positions of the blocks for the Delta robot follow this steps: | ||
- | - The Delta robot has to be powered up and running | ||
- | - If the Delta is not in it's homing position: | ||
- | - Press the blue button to stop the normal operating mode | ||
- | - Else: | ||
- | - Press the green and blue button | ||
- | - Remove all plates | ||
- | |||
- | You have to calibrate the Delta with each plate. Start with plate 0 -> that means no plate is used, and position 0. | ||
- | - Put the actual plate to the actual position and move the TCP to the center of this position. | ||
- | - Hit the blue button. | ||
- | - Move the TCP inside the gap of the current block only in x and y direction. | ||
- | - Hit the blue button again. | ||
- | - If the actual position is number 3 go to the next step. Else increment the position number and start again with step 1. | ||
- | - If the actual plate is number 3 you are finished. Else use the plate with the next higher number and start again with step 1. | ||
- | |||
- | If you have calibrated all blocks on every position, put all blocks back and press the blue button. The Delta will move to it's homing position. |
build_your_own.1555507145.txt.gz · Last modified: 2019/04/17 15:19 by fink