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run [2019/08/06 12:41] – [Running the Delta Application] graf | run [2021/10/22 09:57] (current) – [Running the Delta Application] ursgraf | ||
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====== Running the Delta Application ====== | ====== Running the Delta Application ====== | ||
- | Starting the application on the Delta robot will do a homing first, see [[sequencer# | + | Next, ssh into the target. Before |
- | \\ | + | ost@bblue:$ sudo cat /dev/input/event1 |
- | If you press the green button, the Delta starts its [[sequencer# | + | </code> |
- | \\ | + | Start your application |
- | Press the blue button to stop the [[sequencer# | + | < |
- | \\ | + | ost@bblue:$ sudo ./bin/delta -c bin/HwConfigBBBlue.json |
- | Press the red button | + | </ |
- | \\ | + | |
- | 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 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. | + | ===== Autostart ===== |
- | ===== Run the Application on Startup ===== | + | Usually you want run the application |
- | To run Delta 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