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Running the Delta Application

Starting the application on the Delta robot will do a homing first, see Homing. After homing the Delta is in system ready mode which is indicated by the green and blue LED.

If you press the green button, the Delta starts its Auto Moving Sequence. In between shuffling and sorting the blocks you can take control by using a mouse, see Mouse Sequence. By moving the mouse you can move the tool center point (TCP). You can raise and lower the TCP by scrolling. By pressing the left or right mouse button you enable the electromagnet. Releasing the mouse button will disable it. If you do not perform any action with the mouse for 2 seconds, the robot will start it's auto sequence operating mode again.

Press the blue button to stop the Auto Moving Sequence or Mouse Sequence. This will stop the current sequence, raise the TCP and put it back to it's homing position. The robot is again in system ready mode.

Press the red button in case of an emergency and the red LED lights up. In this case you have to press the green button to continue. The Delta will repeat its homing and go to system ready mode.

If you press the blue button 3 times in the system ready mode, the robot will move to it's parking position and power down. When pressing the green and blue button together in the system ready mode, the Delta can be calibrated.

Run the Application on Startup

To run Delta application on startup just copy the start.sh from the bbblue-scipts folder on your target:

scp ./bbblue-scripts/start.sh debian@192.168.7.2:/opt/eeros/bin

and make sure that it's executable:

debian@beaglebone:$ sudo chmod +x /opt/eeros/bin/start.sh 

In the /etc/rc.local file on your target add the following line:

sudo screen -dmS delta /opt/eeros/bin/start.sh

This script will start the Delta application in a detached screen. To see the log output from the application just reattach to this screen session.

debian@beaglebone:$ sudo screen -r delta

If the Delta application terminates the BeagleBoneBlue will shutdown.

Run the Application not on Startup - Testing

If you want to test the application without start-up script, you can type on one terminal the following:

cd /dev/input
sudo cat event1

And in a second terminal

cd /opt/eeros/bin
sudo ./delta -c HwConfigBBBlue.json

Next: Write Your Own Application

run.txt · Last modified: 2019/08/08 15:19 by visentin