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| This page is is for development nodes and user description of the simplified version of Robobot
| | Robobot B is a simplified (2024) version of the old Robobot |
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| =Robobot B description= | | =Robobot= |
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| This section is intended for users.
| | [[File:robobot-in-blocks-2024.png | 600px]] |
| | [[File:robobot-design-2024.png | 400px]] |
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| ==Overview== | | ==Overview== |
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| [[Robobot architecture]]
| | This section is intended for users. |
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| == Hardware==
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| Plastic
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| ==Electronics==
| | * [[Robobot architecture | Software overview]] and blocks description. |
| | * [[Robobot software description | Software description]] and examples. |
| | * [[Raspberry Pi directory structure for Robobot]] |
| | * [[Robobot and MATLAB]] use of logfiles. |
| | * [[Robobot hardware]] items. |
| | * [[Robobot circuits]] |
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| PCB
| | ==Development notes== |
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| ==Software on Raspberry== | |
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| ===Software repository===
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| ===Directory structure===
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| On the Raspberry the main directory and files are:
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| /home/local/
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| +- git - Directory for libratyes available from a GIT repository (mostly Teensy/arduino libraries).
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| +- svn - Directory for software from the subversion repository (Robobot specific software).
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| | +- regbot - Directory for the Teesny software (firmware) this part is called Regbot.
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| | | +-regbot_gui Debug app for Regbot.
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| | | +-regbot The firmware source code.
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| | +- robobot - Directory for the Robobot specific code.
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| | | +-setup Directory with some default configuration files.
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| | | +-raubase The basic Raspberry Pi software for Robobot.
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| | | | +-src Source code
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| | | | +-build Build directory with Makefile
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| | | | | +-log Directory for data-monitoring logfiles
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| | | | CMakeList.txt Directives to generate a Makefile for the C++ compiler
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| | | | robot.ini Configuration and calibration file
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| | | +- ip_disp Small app to update the IP address of the Raspberry.
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| | | log_ip_dist.txt Logfile for IP and temperature monotoring
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| on_reboot.bash - Script to start applications that should start after a reboot
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| rebootinfo.txt - Logfile for system reboot
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| ===Robot software===
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| ==Firmware on Teensy==
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| ===Description===
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| ===Compile tools===
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| ===Upload to Teensy===
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| =Development notes= | |
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| This section is for development notes. | | This section is for development notes. |
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| ==Software installation Raspberry Pi==
| | * [[Robobot install on Raspberry]] |
| | | * DTU network and time setup: [[Network setup]] |
| | | * [[Enable autostart]] and IP display |
| ===Install on SD===
| | * [[Robobot base software installation]] |
| | | * Setup of [[Robobot webcam server]] |
| Barebone installation (Raspbian GNU/Linux 11 (bullseye) as of July 2023)
| | * Old [[robobot]], instructions are mostly depricated |
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| [[Raspberry base install]] | |
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| [[Raspberry wifi]] | |
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| * make a bootable SD card | |
| * Make a new user called local and set the group permissions
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| sudo adduser local gpio
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| * Install general-purpose development packages | |
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| ===User and network (WiFi)===
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| Connect to DTU Wifi
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| * connect to DTU network without with secret password
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| * use NTP (network time protocol) with DTU network
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| ===Additional packages===
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| Install the following packages:
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| libreadline-dev
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| libopencv-dev
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| libgpiod-dev
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| gpiod
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| cmake
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| subversion
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| aptitude
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| telnet
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| nmap
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| lsof
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| sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude telnet nmap lsof
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| and, if available
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| sudo apt install libcli11-dev
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| Install command line interface library (if not found by 'apt install libcli11-dev')
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| cd
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| cd git
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| git clone https://github.com/CLIUtils/CLI11.git
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| Install the GPIO library to access pins on the Raspberry PI.
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| sudo apt install libpigpiod-if-dev
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| ===Robobot base software===
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| To make the initial copy from the repository
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| cd
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| cd svn
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| svn checkout svn://repos.gbar.dtu.dk/jcan/robobot
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| To update with a new version
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| cd
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| cd svn/robobot
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| svn update
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| ==Teensy==
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| Software tool chain installation
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| ==Old Robobot pages==
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| [[robobot]] an extension to Regbot with a raspberry pi for more extended missions, but uses mission code in Teensy, like Regbot. | |
