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Build the Software
The building of the software is exactly the same as in Build the Software with the exception that the necessary scripts are slightly different. Fetch them on your cross development system with
$ git clone https://github.com/eeduro/eeduro-scripts.git eeduro $ cd eeduro/delta-ntb
Use the scripts therein.
Test the Hardware
The same tests as Test the Hardware can be performed on this robot. Additionally, the following two tests must be performed.
The NTB version of the Delta has a target tool point (TCP) with a motor and a magnet. The magnet can be operated as follows (run as root):
root@bblue:$ cd /sys/class/leds root@bblue:$ echo 1 > red/brightness
The TCP motor should turn clockwise with the command
ost@bblue:$ sudo rc_test_motors -m 4 -d 1
Hardware Configuration Files
The git repository includes a directory robotList. There you can find the hardware configuration files for all ntb robots. While most of the configuration is the same for all robots, encoder resolution can differ. Please copy the right configuration file from this directory before downloading to the robot.
cp robotList/HwConfigBBBlue.000x.json HwConfigBBBlue.json
Replace the 'x' with the proper number.