run
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
run [2019/08/06 12:41] – [Running the Delta Application] graf | run [2021/10/20 09:44] – [Running the Delta Application] ursgraf | ||
---|---|---|---|
Line 3: | Line 3: | ||
====== Running the Delta Application ====== | ====== Running the Delta Application ====== | ||
- | Starting the application on the Delta robot will do a homing first, see [[sequencer# | ||
- | \\ | ||
- | If you press the green button, the Delta starts its [[sequencer# | ||
- | \\ | ||
- | Press the blue button to stop the [[sequencer# | ||
- | \\ | ||
- | 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.\\ | ||
- | ===== Calibrating 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 | + | Next, ssh into the target. Start your application |
- | - Put the actual plate to the actual position and move the TCP to the center of this position. | + | <code> |
- | - Hit the blue button. | + | ost@bblue:$ cd bin |
- | | + | ost@bblue:$ sudo ./ |
- | - 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. | ||
- | ===== Run the Application on Startup | + | ===== Autostart |
- | To run Delta application | + | |
+ | Usually you want run the application | ||
+ | For this purpose you have to copy two files from the //bbblue-scripts// folder | ||
< | < | ||
- | scp ./ | + | $ scp ./ |
+ | $ scp ./bbblue-scripts/delta-startup.service ost@192.168.7.2: | ||
</ | </ | ||
- | and make sure that it's executable: | + | Make sure that '' |
< | < | ||
- | debian@beaglebone:$ sudo chmod +x /opt/eeros/bin/ | + | ost@bblue:$ chmod +x bin/ |
</ | </ | ||
- | In the '' | + | Further, copy the file '' |
< | < | ||
- | sudo screen -dmS delta /opt/eeros/bin/start.sh | + | ost@bblue: |
</ | </ | ||
- | 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. | + | As a final step you have to enable |
< | < | ||
- | debian@beaglebone:$ sudo screen -r delta | + | ost@bblue:$ sudo systemctl enable |
</ | </ | ||
- | If the Delta application terminates the BeagleBoneBlue will shutdown. | + | and reboot with |
+ | < | ||
+ | ost@bblue:$ sudo / | ||
+ | </ | ||
+ | Now, the Delta application will start 20s after the board is powered up and the operating system finished its bootup procedure. When the Delta application terminates | ||
+ | |||
+ | :!: Please note that upon termination of the program | ||
+ | |||
+ | ===== Get Output of Loggers after Autostart ===== | ||
+ | The Delta application periodically logs various state information. To see this output the application was started in a detached screen. To see the log output from the application just reattach to this screen session. First connect to your target with | ||
+ | < | ||
+ | then reattach with | ||
+ | < | ||
+ | ost@bblue:$ sudo screen -r delta | ||
+ | </ | ||
+ | You could also terminate the application by pressing '' | ||
+ | |||
+ | :!: Please note that upon termination of the program the BeagleBoneBlue will shutdown and you will loose your ssh connection. | ||
+ | |||
+ | |||
+ | ---- | ||
+ | **Next: [[dev|]]** |
run.txt · Last modified: 2021/10/22 09:57 by ursgraf