Calliope2SP install
From Tekkotsu Wiki
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The Calliope2SP features a 2 degree-of-freedom arm, a Sony PlayStation Eye webcam, and a Pan/tilt mount with Robotis AX-S1 sensor module below the webcam.
Calliope2SP simulation in Mirage -- Note that the gripper is mounted upside-down in the video. We later reversed it, as in the photo above, so that the gripper could get closer to the floor.
Arm Mounting
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Begin by removing the base plate; this will make it easier to attach the arm. The top view (left image) shows the two flathead screws that attach the arm fork to the base plate. Note that the arm fork must go underneath the base plate so that the screw heads can nestle into the base plate's countersunk holes. Use a pliers to hold the castle nuts as you tighten the screws. The bottom view (right image) shows the two castle nuts.
Base Plate Mounting
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The base plate should be reattached to the Create with four 2.5 inch #6 Phillips flathead screws, and four pairs of standoffs. Each screw has a 1/4 inch standoff placed atop a 1.5 inch standoff. A basic Calliope uses 2 inch screws and omits the 1/4 inch standoffs; the Calliope2SP needs the extra standoffs in order to provide adequate clearance for the arm.
Notice that the base plate contains pairs of screw holes. For the Calliope2SP, you should use the rear hole of each pair; see the red circled areas in the photo above.
Cabling
The electronics box contains six sockets for servo cables. The pan/tilt's cable is plugged in to one of these sockets. Plug the arm cable into one of the other sockets; it doesn't matter which one.
| Cable | ID | Model | Servo Name |
| head | 1 | AX-12 | NECK:pan |
| 2 | AX-12 | NECK:tilt | |
| 100 | AX-S1 | none (sensor module) | |
| arm | 3 | AX-12 | ARM:elbow |
| 4 | AX-12 | ARM:wrist | |
| 5 | AX-12 | ARM:gripper |
Sony PlayStation Eye Driver
See the Sony PlayStation Eye driver install instructions for information on how to install the proper driver for the Sony Eye webcam. If your Calliope already has one of these installed, you may still need to reinstall the driver to switch from 320x240@120fps mode to 640x480@60fps mode.
Compiling Tekkotsu
To compile Tekkotsu for the Calliope2SP, edit /usr/local/Tekkotsu/project/Environment.conf and change the value of TEKKOTSU_TARGET_MODEL to TGT_CALLIOPE2SP. Then recompile Tekkotsu.
Make the same edit to /home/user/project/Environment.conf and recompile there as well.
Udev Rules and Power-Up Procedure
See the articles on FTDI USB Serial device programming and Linux Udev Rules for information on hardware configuration steps to take.
If the above procedures have not been done, then before powering up the netbook you should unplug the webcam and the USB servo cable. Leave the USB cable to the Create plugged in to the netbook. This assures that the Create USB-to-serial line will be assigned device id /dev/ttyUSB0 and the internal camera will be /dev/video0. Once the netbook has powered up and booted, plug in the USB servo cable (which becomes /dev/ttyUSB1) and the Sony PlayStation Eye webcam (which becomes /dev/video1). It's important that these device ids be assigned correctly, or Tekkotsu will not be able to find the devices.
Once the FTDI serial devices have been programmed and the Calliope udev rules have been installed, you can leave everything plugged in at power-up.
