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| REGBOT is a small robot designed for exercises for our linear control course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]).
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| [[File:regbot-final.png|200px]] | | REGBOT is a small robot designed for exercises for our linear control 1 course (PID control) ([http://www.dtu.dk/english/Service/Phonebook/Person?id=14453 author]). |
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| Figur 1. Oprindelig version 1 af Regbot.
| | [[file:foto_of_Alba_40.png | 250px]] |
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| ==Introduction==
| | Figur 1. Version 2 of Regbot. |
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| [[Design overview]] can be found here.
| | == Overview == |
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| [[User interface]], how to configure the robot using the Regbot client.
| | This section is intended for users. |
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| [[Mission]], how to write a mission. | | [[Getting started]] with REGBOT GUI. |
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| REGBOT comes in 3 versions:
| | [[User interface]], how to configure the robot using the Regbot client. |
| * version 1A - no longer available.
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| * version 2B - with extension boards to match version 3
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| * version 3 - new configuration with (almost) all on one board ([[REGBOT version 3]] technical notes)
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| [[REGBOT robot status]] | | [[Control]] overview gives some information on control possibilities. |
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| Video presentation https://www.youtube.com/watch?v=mOz4eNkjTM0
| | [[Mission]], how to write a mission. |
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| Intro til HW http://aut.elektro.dtu.dk:rse/regbot/lektion_1_intro_1_hardware_software.mov
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| '''Robobot'''
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| Robobot is a base robot for "Building dependable systems". See details here ([[Robobot]]), it is basically a Regbot robot extended with a raspberry pi.
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| ==Use software as is==
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| To use regbot two software parts are needed - one for the robot (regbot.hex) and the client (regbot.exe (for windows)).
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| ====Client software====
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| Get the client software (regbot.exe) from file sharing on campusnet, place it in a directory, this directory will be default for configuration file and result files from the robot.
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| Get the client software here (as of 4/12/2016)
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| * get software from SVN, see below.
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| For windows a complete executable file (''regbot.exe'') is in the ''dist'' subdirectory.
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| ====windows 8====
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| On windows 8, a USB driver must be installed to get in contact with the robot - see [[installation in windows]] - should be OK in Windows 10
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| The driver will (on Windows) create a COM-port when connected - most likely com3 or any higher number.
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| When the robot is disconnected by unplugging the cable, then the client may need to be restarted, if it was connected when the cable was unplugged (no connection detect in windows).
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| ==Software download==
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| The source code for the robot and the client is available here.
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| NB! the software source can not be compiled without the proper tool-chain (compiler and library for the robot and python and libraries for the client)
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| repository for software - client and robot (version 3)
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| * client: svn://repos.gbar.dtu.dk/jcan/regbot/qtgui
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| * robot: svn://repos.gbar.dtu.dk/jcan/regbot/regbot
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| * robobot (c++): svn://repos.gbar.dtu.dk/jcan/regbot/robobot
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| On windows something like ''TortoiseSVN'' needs to be installed, see e.g.: http://www.gbar.dtu.dk/faq/39-svn
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| On a Linux computer install the ''subversion'' package, and do something like this:
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/regbot regbot
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/qtgui qtgui
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| svn co svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
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| *Robot software (including regbot.hex): version 3.500 (as of 4 December 2016) - more complete - but missing a few items related to access from raspberry pi, and added first version of software for robobot).
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| *Robot software (including regbot.hex): version 3.484 (as of 15 November 2016) - modular control implement done, new mission elements and servo control, adaption for hardware version 3 incl wifi and battery shutdown control.
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| *Robot software (including regbot.hex): version 3.371 (as of 9 August 2016) - changed to more modular control implement - not finished - use version 2 for demos
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| *Robot software (including regbot.hex): version 2.301 (as of 10 February 2016) - fixed error in disabling faulty velocity estimator.
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| *Robot software (including regbot.hex): version 2.290 (as of 5 February 2016) - fixed loss of ID if saved mission has more than a few lines.
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| *Robot software (including regbot.hex): version 2.285 (as of 31 January 2016) - ready for F16 course
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| *Client software : 3.484 (as of 15 November 2016) - adapted to hardware 3, modular control settings and wifi access
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| *Client software : 3.371 (as of 9 August 2016) - changed to more modular control implement - not finished - use version 2 for demos
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| *Client software : 2.290 (as of 5 February 2016) - fixed tilt offset error en saved configuration file (regbot.ini)
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| *Client software (including regbot.exe for windows): 2.285 (as of 31 January 2016) - ready for F16 course
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| === Older version===
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| repository for software - client and robot (version 2)
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| * client: svn://repos.gbar.dtu.dk/jcan/regbot/version2/qtgui
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| * robot: svn://repos.gbar.dtu.dk/jcan/regbot/version2/regbot
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| ==Install software tools==
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| The software tools to modify the software requires some tools.
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| * [[Software installation]] and tool-chain - Linux
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| * [[installation in windows]] with some of the tool-chain
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| * [[Schematic]]
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| ==Extensions==
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| ===Camera based line follower===
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| This extension adds a Raspbery Pi with a Raspberry Pi camera on top of the robot.
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| The Raspberry Pi is connected to the robot base through the UART serial connection.
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| [[File:regbotVision.JPG|200px]] | | [[Regbot calibration]] for better performance. |
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| The [[Camera based line follower]] detects a tape line in front of the robot and controls the robot to follow the line through the serial connection.
| | [[Regbot maintenance]] for longer life. |
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| Go to [[Vision based Line Follower]] for detailed information on the project and instructions on how to setup a new Line Following RegBot.
| | [[Regbot GUI]] installation. |
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| | [[Regbot hardware board]]. |
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| ===ESP8266=== | | == Install notes == |
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| This extension adds wireless communication to the robot through the Teensy's UART serial connection. | | This section is primarily installation notes and more detailed descriptions not usually needed by the end-user. |
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| | [[Regbot command interface]] - command list. |
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| [[File:esp8266.jpg|200px]] | | [[Software installation]] on REGBOT (Arduino) and tool-chain - Linux |
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| Go to [[ESP8266]] for instructions on how to add the ESP8266 to the Teensy board.
| | [[Regbot old stuff]] |
