View source for Robobot on Raspberry PI

Back to [[Robobot]]

== Software packages ==

Install the following paxkages on the Raspberry to get, run and maintain the Robobot software

 sudo apt install subversion    # to get the source code
 sudo apt install cmake         # to be able co create Makefiles from a specification 
 sudo apt install libopencv-dev # vision library
 sudo apt install subversion cmake libopencv-dev

Additional python packages used

* python3-pyqtgraph 
* python3-numpy
* python3-serial
* python3-scipy
* pyqt5-dev-tools

 sudo apt install python3-pyqtgraph python3-numpy python3-serial python3-scipy pyqt5-dev-tools

== Get ROBOBOT and REGBOT source ==

This is probably installed already, otherwise use

 cd
 svn co svn://repos.gbar.dtu.dk/jcan/regbot
 ln -s regbot/mission
 ln -s regbot/robobot_bridge
 ln -s regbot/regbotgui
 ln -s regbot/mission && ln -s regbot/robobot_bridge && ln -s regbot/regbotgui

==Update and compile==

On the raspberry there is the following directories:

 $ cd
 $ ls
   mission          Mission software skeleton that can also access the raspberry camera
   regbotgui        Configuration GUI for REGBOT (python), a Windows executable can be found in course material.
   regbot/regbot    Firmware for the REGBOT part
   robobot_bridge   The connection software between the REGBOT, the small display, the remote control and the mission software

===Update===

All these source directories are already connected to a SVN repository, but probably need update, by

 cd 
 cd mission
 svn up
 cd ../regbotgui
 svn up
 cd ../regbot
 svn up
 cd ../robobot_bridge
 svn up

===Compile===

If there are updates, then they need a recompile (except qtgui).

Mission and Robobot_bridge has a 'build' subdirectory with a Makefile, REGBOT has the Makefile in the base directory.

Type
 cd ~/robobot_bridge
 mkdir -p build         # make a build directort -p accepts it may be there already
 cd build
 cmake ..               # builds Makefile from CMakeLists.txt in parent directory ".."
 make -j4               # compile - using 4 CPUs
 cd ~/mission           # to C++ version of mission control
 mkdir -p build         # make a build directort -p accepts it may be there already
 cd build
 cmake ..               # builds Makefile from CMakeLists.txt in parent directory ".."
 make -j4               # compile - using 4 CPUs

==REGBOT software==

The REGBOT is programmed with Arduino (and Teensyduino) and require these tools to be installed to compile and install the firmware
See the installation procedure description in [[Software_installation]].

The REGBOT software is in the ~/regbot/regbot directory

To compile it for the REGBOT version 4 hardware (red board) with a Teensy 3.5 processor board, go to the '3.5' subdirectory

 cd ~/regbot/regbot/3.5
 make -j4

If successful a regbot.hex file is generated and should be uploaded to the REGBOT Teensy 3.5 processor.

This can be done from a console with X-messages enabled.

 ssh -X local@solvej.local

if the robot is 'solvej'.

NB! While programming all the pins on the processor are released, including the one maintaining power to the robot.
This means that the '''red button on the board MUST be pressed''' during the MAKE UPLOAD command

 cd ~/regbot/regbot/3.5
 make upload

See the [[regbot]] directory for more details.