Robobot base software installation - Revision history

Jca: /* off service */

2025-02-16T16:48:32Z

off service

← Older revision		Revision as of 18:48, 16 February 2025
Line 32:		Line 32:
	This will be started at reboot		This will be started at reboot

	=== ~~off~~ service ===		=== Off service ===

	Go to svn/robobot/off_by_mqtt, the app will handle the power off situation only.		Go to svn/robobot/off_by_mqtt, the app will handle the power off situation only.

Jca: /* IP display */

2025-02-16T16:48:23Z

IP display

@@ Line 25: / Line 25: @@
   cd ~/svn/robobot/ip_disp
   mkdir build
   cd build

Jca: /* Robobot base software */

2025-01-09T09:21:57Z

Robobot base software

← Older revision		Revision as of 11:21, 9 January 2025
Line 16:		Line 16:
	svn update		svn update

	If you want to see the source code on other platforms~~, the repository is open for reading~~.		The repository is open for reading at the above address if you want to see the source code on other platforms.

	==Compile base software ==		==Compile base software ==

Jca: /* Teensy interface */

2025-01-09T09:19:29Z

Teensy interface

← Older revision		Revision as of 11:19, 9 January 2025
Line 75:		Line 75:
	* ''use = true'' if ''false'', then this function is disabled.		* ''use = true'' if ''false'', then this function is disabled.
	* Some items are not relevant for this robot type.		* Some items are not relevant for this robot type.
			* The [GPIO] function should NOT be enabled.

	This file looks like this (SVN version 864 of 9 Jan 2025):		This file looks like this (SVN version 864 of 9 Jan 2025):

Jca: /* Python base code */

2025-01-09T09:15:30Z

Python base code

← Older revision		Revision as of 11:15, 9 January 2025
Line 48:		Line 48:
	The Python MQTT client needs to know the IP address of the MQTT server, i.e. the robot.		The Python MQTT client needs to know the IP address of the MQTT server, i.e. the robot.

	The default is PI 127.0.0.1, ~~which is~~ the robot ~~itself~~. This is fine when the code runs on the robot, but when the code runs on another PC~~, then the IP address needs to be changed~~.		The default IP is 127.0.0.1, the robot's own IP address. This is fine when the code runs on the robot, but it needs to be changed when the code runs on another PC.

	In the ~~__main__~~ function in file mqtt-client.py ~~the service.setup() line determines the IP~~.		The service.setup() line determines the IP in the _ _ main _ _ function in the file mqtt-client.py.
	The IP to use is displayed on the robot.		The IP to use is displayed on the robot.

Jca: /* Configure */

2025-01-09T09:13:43Z

Configure

← Older revision		Revision as of 11:13, 9 January 2025
Line 43:		Line 43:

	== Configure ==		== Configure ==

			=== Python base code ===

			The Python MQTT client needs to know the IP address of the MQTT server, i.e. the robot.

			The default is PI 127.0.0.1, which is the robot itself. This is fine when the code runs on the robot, but when the code runs on another PC, then the IP address needs to be changed.

			In the __main__ function in file mqtt-client.py the service.setup() line determines the IP.
			The IP to use is displayed on the robot.

			if __name__ == "__main__":
			print("% Starting")
			service.setup('''10.197.216.216''')
			if service.connected:
			loop()
			service.terminate()
			print("% Main Terminated")

			=== Teensy interface ===

	The Teensy interface is configured using an initialization file ''robot.ini''.		The Teensy interface is configured using an initialization file ''robot.ini''.

Jca: /* Configure */

2025-01-09T09:06:54Z

Configure

← Older revision		Revision as of 11:06, 9 January 2025
Line 55:		Line 55:
	* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.		* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.
	* ''use = true'' if ''false'', then this function is disabled.		* ''use = true'' if ''false'', then this function is disabled.
			* Some items are not relevant for this robot type.

	This file looks like this (SVN version 864 of 9 Jan 2025):		This file looks like this (SVN version 864 of 9 Jan 2025):
Line 79:		Line 80:
	type = robobot		type = robobot
	idx = 124		idx = 124
	; robot 'name' and 'idx' are read-only, use command line option to change =		; robot 'name' and 'idx' are read-only, use a command line option to change =
	name = Dot		name = Dot
	device = /dev/ttyACM0		device = /dev/ttyACM0

Jca: /* Configure */

2025-01-09T09:05:13Z

Configure

← Older revision		Revision as of 11:05, 9 January 2025
Line 50:		Line 50:
	cd ~/svn/robobot/teensy_interface		cd ~/svn/robobot/teensy_interface
	cp robot.ini build/		cp robot.ini build/

	~~The file determines:~~
	* Data interval and data types that are forwarded to MQTT. Like
	* Creation of logfiles for individual data types.
	* Some configuration.

	There are some common items in the file, like:		There are some common items in the file, like:
	* ''interval_pose_ms = 5'' sets the interval between pose updates to 5 ms. A value of 0 means no data. An interval of 1 or 2 ms is possible but will load the interfaces and may cause unwanted data loss.		* ''interval_pose_ms = 5'' sets the interval between pose updates to 5 ms. A value of 0 means no data. An interval of 1 or 2 ms is possible but will load the interfaces and may cause unwanted data loss.
	* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.		* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.
			* ''use = true'' if ''false'', then this function is disabled.

	This file looks like this (~~svn~~ version 864 of 9 Jan 2025):		This file looks like this (SVN version 864 of 9 Jan 2025):

	[service]		[service]

Jca: /* Configure */

2025-01-09T08:48:16Z

Configure

← Older revision		Revision as of 10:48, 9 January 2025
Line 56:		Line 56:
	* Some configuration.		* Some configuration.

	There are some common items in the file:		There are some common items in the file, like:
	* ''interval_pose_ms = 5'' sets the interval between pose updates to 5 ms. A value of 0 means no data. An interval of 1 or 2 ms is possible but will load the interfaces and may cause unwanted data loss.		* ''interval_pose_ms = 5'' sets the interval between pose updates to 5 ms. A value of 0 means no data. An interval of 1 or 2 ms is possible but will load the interfaces and may cause unwanted data loss.
	* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.		* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.

Jca: /* Configure */

2025-01-09T08:47:40Z

Configure

← Older revision		Revision as of 10:47, 9 January 2025
Line 53:		Line 53:
	The file determines:		The file determines:
	* Data interval and data types that are forwarded to MQTT. Like		* Data interval and data types that are forwarded to MQTT. Like
	* Creation of logfiles for individual data types		* Creation of logfiles for individual data types.
	* Some configuration		* Some configuration.

			There are some common items in the file:
			* ''interval_pose_ms = 5'' sets the interval between pose updates to 5 ms. A value of 0 means no data. An interval of 1 or 2 ms is possible but will load the interfaces and may cause unwanted data loss.
			* ''log_pose = true'' a logfile with timestamped will be created if such ''log_xxx' flags are true.

	This file looks like this (svn version 864 of 9 Jan 2025):		This file looks like this (svn version 864 of 9 Jan 2025):
Line 94:		Line 97:
	regbot_version = 696		regbot_version = 696
	shutdown_file = /home/local/shutdown.now		shutdown_file = /home/local/shutdown.now
	batteryusedwh = ~~242~~.~~503580~~		batteryusedwh = 301.963426
	batterycalibrate = 1.0		batterycalibrate = 1.0

	[encoder0]		[encoder0]
	~~rate_pos_ms~~ = 0		interval_pos_ms = 0
	~~rate_vel_ms~~ = 15		interval_vel_ms = 15
	print = false		print = false
	encoder_reversed = true		encoder_reversed = true
	~~rate_pose_ms~~ = 5		interval_pose_ms = 5
	log_enc = true		log_enc = true
	log_pose = true		log_pose = true
Line 111:		Line 114:
	print_gyro = false		print_gyro = false
	print_acc = false		print_acc = false
	~~rate_gyro_ms~~ = 0		interval_gyro_ms = 0
	~~rate_acc_ms~~ = 0		interval_acc_ms = 0

	[imu2teensy0]		[imu2teensy0]
Line 120:		Line 123:
	print_gyro = false		print_gyro = false
	print_acc = false		print_acc = false
	~~rate_gyro_ms~~ = 0		interval_gyro_ms = 0
	~~rate_acc_ms~~ = 0		interval_acc_ms = 0

	[servotn0]		[servotn0]
	~~rate_ms~~ = 0		interval_ms = 0
	log = true		log = true
	print = true		print = true
Line 146:		Line 149:
	m1print = false		m1print = false
	m2print = false		m2print = false
	~~rate_motv_ms~~ = 25		interval_motv_ms = 25
	~~rate_motpwm_ms~~ = 0		interval_motpwm_ms = 0

	[velocity0]		[velocity0]
Line 159:		Line 162:
	log = true		log = true
	print = false		print = false
	~~rate_ms~~ = 10		interval_ms = 10

	[distforce0]		[distforce0]
	~~rate_ird_ms~~ = 0		interval_ird_ms = 0
	log_dist = true		log_dist = true
	log_force = false		log_force = false
Line 210:		Line 213:
	; set 'saveconfig' to 'false' to avoid autosave =		; set 'saveconfig' to 'false' to avoid autosave =
	saveconfig = true		saveconfig = true
	version = ~~853~~ 2025-01-~~05 16~~:22:46		version = 859 2025-01-07 08:37:26

	[edge0]		[edge0]
	log = true		log = true
	print = false		print = false
	~~rate_liv_ms~~ = 0		interval_liv_ms = 0
	~~rate_livn_ms~~ = 7		interval_livn_ms = 10