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run [2019/08/07 16:02] – [Run the Application not on Startup - only for testing] visentin | 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.\\ | + | |
+ | ===== 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 |
- | + | ||
- | ===== Run the Application not on Startup - only for testing ===== | + | |
- | + | ||
- | If you want to test the application without start-up script, you can type on one terminal the following: | + | |
< | < | ||
- | cd /dev/input | + | ost@bblue:$ sudo /sbin/reboot |
- | sudo cat event1 | + | |
</ | </ | ||
+ | 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.1565186547.txt.gz · Last modified: 2019/08/07 16:02 by visentin