run
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run [2019/08/07 16:04] – [Run the Application not on Startup - only for testing] visentin | run [2021/10/05 14:40] – [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# | ||
- | \\ | ||
- | 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.\\ | ||
+ | Next, ssh into the target. Before you start the delta application you have to make sure that your mouse works with | ||
+ | < | ||
+ | ost@bblue:$ sudo cat / | ||
+ | </ | ||
+ | |||
+ | Start your application in a second terminal while the above command is still running | ||
- | ===== Run the Application on Startup ===== | ||
- | To run Delta application on startup just copy the // | ||
< | < | ||
- | scp ./bbblue-scripts/start.sh debian@192.168.7.2:/ | + | ost@bblue:$ cd bin |
+ | ost@bblue:$ sudo ./bin/ | ||
</ | </ | ||
- | and make sure that it's executable: | + | |
+ | |||
+ | ===== Autostart ===== | ||
+ | |||
+ | Usually you want run the application upon startup of the board after you applied power. | ||
+ | For this purpose you have to copy two files from the // | ||
< | < | ||
- | debian@beaglebone: | + | $ scp ./bbblue-scripts/ |
+ | $ scp ./ | ||
</ | </ | ||
- | In the '' | + | Make sure that '' |
< | < | ||
- | sudo screen -dmS delta /opt/eeros/bin/ | + | ost@bblue:$ chmod +x bin/ |
</ | </ | ||
- | 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. | + | Further, copy the file '' |
< | < | ||
- | debian@beaglebone:$ sudo screen -r delta | + | ost@bblue:$ sudo mv bin/delta-startup.service / |
</ | </ | ||
- | If the Delta application terminates the BeagleBoneBlue will shutdown. | + | As a final step you have to enable |
- | + | ||
- | ===== Run the Application not on Startup - Testing ===== | + | |
- | + | ||
- | If you want to test the application without start-up script, you can type on one terminal | + | |
< | < | ||
- | cd / | + | ost@bblue: |
- | sudo cat event1 | + | |
</ | </ | ||
+ | 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 the Beaglebone Blue will shutdown after 30s. You can terminate the application as described in [[user_interface|]]. | ||
- | And in a second terminal | + | :!: Please note that upon termination of the program the BeagleBoneBlue will shutdown and you will loose your ssh connection. |
+ | ===== 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 | ||
< | < | ||
- | cd / | + | ost@bblue: |
- | sudo ./ | + | |
</ | </ | ||
+ | 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|]]** | **Next: [[dev|]]** |
run.txt · Last modified: 2021/10/22 09:57 by ursgraf