Create/ASUS Quick Start
From Tekkotsu Wiki
This page will show you how to operate your Create/ASUS robot. Your robot should have come with Linux and Tekkotsu pre-installed, but if you need to reinstall anything, see the Create/ASUS install instructions.
- Make sure the batteries on the ASUS netbook and the Create robot are charged.
- Turn on the netbook. It should boot and log you in automatically. If it asks you to log in, specify the user name "user". Ask the robot's owner for the password.
- Make sure the USB-to-serial cable connecting the netbook to the Create is plugged in.
- Disconnect the Create from the battery charger, then press the power button. The power LED should flash red/green and then turn solid green, and the robot should give a little beep. If the power LED is yellow or red, the battery is low. If you're unfamiliar with the Create, see this list of Create Controls and Indicators.
Starting Tekkotsu On the Netbook
1. Go to Accessories > Terminal to start up a terminal.
2. In the terminal window, type control-shift-T to create a new tab. In this second tab, type:
A ControllerGUI window should pop up on the screen, but it will be mostly empty and the buttons won't work yet.
3. Click on the first tab in the terminal window, and start up Tekkotsu by typing:
cd ~/project ./tekkotsu-CREATE
4. Tekkotsu should start up and play a little beep sound, and the ControllerGUI window should come alive. If this doesn't happen, see the Create/ASUS Troubleshooting Guide.
Taking Your Robot for a Test Drive
- In the ControllerGUI window, click on the RawCam button and verify that you are getting camera images. Click on RawCam again to deactivate the RawCam viewer.
- Click on the "W" button in the Teleop row to activate the Walk Controller. (The "H" and "A" buttons won't do anything on the Create, so stick with "W".)
- Click and drag the red dot in the Walk Controller window to make the Create travel in that direction. If the robot isn't moving, it may have gone into Emergency Stop mode. Click on the red stop sign in the ControllerGUI and it will turn green.
- To learn more about operating the robot, see Lab: Teleoperation and Sensor Observer.
Compiling Behaviors On the Robot
To compile a behavior on the robot, go through the following steps:
1. Put the source file in your ~/project directory. If you like, you can start with Example1.cc.fsm from Lab: State Machines.
2. Type the following:
cd ~/project make
3. If the compilation succeeded you will see a message saying "You may want to run tekkotsu-CREATE". If there were errors, you will see some messages in red. Use an editor such as gedit to correct the errors, then try the make again.
4. To run your behavior, first start Tekkotsu:
5. Double click on "User Behaviors" in the ControllerGUI window and you should see your behavior listed in the menu. Double click on the behavior name to run it (the entry will turn red). If you're running the Example1 behavior, press a button on the robot to test the behavior.
6. Double click on the behavior name in the ControllerGUI menu again to stop the behavior; the name will switch from red to black.
Note: Some people find it difficult to double click quickly enough to activate or deactivate a menu item using the mouse. Instead you can just click once on the item to select it, then hit the Enter key to activate it.
Controlling Your Robot From a Linux Workstation
You can control your robot remotely via WiFi or an Ethernet connection. This allows you to use a full-size screen and keyboard for programming, and saves you from having to chase your robot around the room when debugging.
1. Make sure your robot has an IP address. To find its IP address, type one of the following commands in a shell:
ifconfig wlan0 (for WiFi) ifconfig eth0 (for Ethernet)
If your robot doesn't have an IP address, go to the wireless networking icon in the top right of the display and select a wireless network, or go to System > Network Tools and adjust the settings.
2. Make sure Tekkotsu is installed on your Linux workstation and /usr/local/Tekkotsu/tools/bin is on your search path. Then type the following in a shell on the workstation:
3. Connect to the robot by typing the following in a shell on the workstation:
ssh -X user@robot's_ip_address
4. Run tekkotsu-CREATE on the robot via the ssh connection in the workstation's terminal window and the ControllerGUI will connect to it automatically.
Controlling Your Robot From a Windows Workstation
The easiest way to use a Windows workstation for Tekkotsu is to run Ubuntu on it by booting from a Tekkotsu flash drive. If you don't have one, see the Flash drive install instructions.
Once you have obtained a Linux shell using one of the above two approaches, follow the directions below to install Tekkotsu and compile the ControllerGUI. Note that you must have Java and cvs available, so be sure to include them when doing a Cygwin installation.
cd /usr/local sudo cvs -d :pserver:email@example.com:/cvs checkout -P Tekkotsu cd /usr/local/Tekkotsu/tools/mon sudo make
It should also be possible to run the ControllerGUI directly under Windows, since it's written in Java, but we don't currently have a script for compiling for native Windows. If you write one, please share it.