Warning #######
This is a Work In Progress! There are no warrantees or Guarantees of any type that this code is useable for anything. But I hope it is…
This set of directories are some test programs as well as some code for some different robots, that I am trying out on the Raspberry Pi (RPI).
Also recently I started to adapt this code to work with the BeagleBone Black (BBBk)
Note: I am in no way an expert on Linux and what little Unix experience I have is from quite a long time ago.
At some point I will probably merge the code back into the main code bases That I have for those robots. Example the Phoenix code may get merged back Into the Arduino_Phoenix_parts code base.
Not sure if it will help anyone, but I have a thread up on Lynxmotion ( http://www.lynxmotion.net/viewtopic.php?f=25&t=8607 ), that talks about different things I did as part of this project. Also there is a lot of good information up on a thread on Trossenrobotics.com (http://forums.trossenrobotics.com/showthread.php?6040-PhantomX-controlled-by-a-Raspberry-Pi )
In case it helps anyone, here is some information I put together (up on Lynxmotion Thread), when I was setting up my second Pi to run this code.
Likewise I have a thread talking about starting to work with the BeagleBone Black up on Trossen Robotics: http://forums.trossenrobotics.com/showthread.php?6158-BeagleBone-Black-starting-to-play...
First link to Quick start: http://www.raspberrypi.org/quick-start-guide
Next Initial information from Kevin that I used to do some initial setup. as far as linux cuts I suggest the following.
"wheezy" it has hard point and is the most popular.
http://www.raspberrypi.org/downloads
After installing check for any updates that are not in the latest distro by running:
sudo apt-get update && sudo apt-get upgrade
Next thing will install git... nearly everything needs it. You can also push directly into your git hub online with it:
sudo apt-get install git-core
And finally you might as well make sure your firmware is updated so run the below commands.
For proper time: sudo apt-get install ntpdate sudo ntpdate -u ntp.ubuntu.com
For SSL certs: sudo apt-get install ca-certificates
Firmware updater: sudo wget http://goo.gl/1BOfJ -O /usr/bin/rpi-update && sudo chmod +x /usr/bin/rpi-update
And finally run the command for update: sudo rpi-update
The above will pretty much get your RPI up to date with all the latest and greatest.
Also if setting up a PC to talk to a PI through the network, more information from Kevin: So for file transfer I use WinSCP. It's a nice little GUI for simple FTP. I still code on my PC then when I want to test compile I just transfer over the directories. Here is the direct link. It should auto download. Your raspberry Pi should tell you it's IP towards the end of it's boot cycle.
http://winscp.net/download/winscp514setup.exe
I run my rpi headless so I simply ssh into its IP. I use the below program to get a terminal in.
http://www.chiark.greenend.org.uk/~sgtatham/putty/download.html
As long as you are comfortable with a terminal this should work fine.
Note: On the first boot, I also use the configuration program, to resize the main partition to the size of the SD card, plus time zone, keyboard type... If I missed changing anything can always bring this utility back up by typing: sudo raspi-config
Setup for date and time update ntpdate us.pool.ntp.org nano /etc/default/ntpdate (Set us.pool.ntp.org in NTPSERVERS)
rm /etc/localtime
ln -s /usr/share/zoneinfo/America/Los_Angeles /etc/localtime
Nameserver may not be set properly echo nameserver 8.8.8.8 > /etc/resolv.conf
For the Root, I exported a few things in the ~/.profile export SLOTS=/sys/devices/bone_capemgr.8/slots export PINS=/sys/kernel/debug/pinctrl/44e10800.pinmux/pins export OSTYPE ln -s /dev/ttyO1 /dev/ttyXBEE ln -s /dev/ttyO2 /dev/ttyRCLAW Note in the above the bone_capemgr.8 may change from build to build previously was .9
Also as a way to force the date to be set properly, I added at the endo of ~/.bashrc ntpdate-sync (I also enabled color coding of lines and the like)
To Add a different user other than pi, you can do something like: sudo adduser kurt
It will prompt you for some stuff... Then to make a super user: sudo adduser kurt sudo
if you wish to make the new user act like the user pi, as with regards to sudo command, you can edit the information: sudo nano /etc/sudoerrs
Also some devices require special permissions or the like to work properly. Example USB serial devices need permission. You can either get this by running the command using sudo, or you in this case you can add the user to the dialout group: sudo adduser kurt dialout
To find out which group you may need for a device, do a ls -l for the device. Example: kurt@raspberrypi ~ $ ls -l /dev/ttyUSB* crw-rw---T 1 root dialout 188, 0 Dec 31 1969 /dev/ttyUSB0 crw-rw---T 1 root dialout 188, 1 Jun 25 08:30 /dev/ttyUSB1
To list a complete list of users and groups you can try: cat /etc/passwd | cut -d: -f1 cat /etc/group |cut -d: -f1
If something works for one user such as pi but not for another user like kurt, you can also try using the groups command and see what the differences are and maybe add some to the user that is not working. groups groups pi
On this 2nd Pi I am trying a different USB Wifi adapter that has an external 5dbi gain antenna ( http://www.amazon.com/GMYLE-Wireless-80 ... pd_cp_pc_0 ) that probably will have a longer range. On the first Pi I did a bunch of manual stuff to get it up and working with my network. This time I simply had the GUI up (startX) and ran the Wifi Config program on the desktop and was able to see my network, choose the right AP, entered in the WPA key and so far it appears to work
There are issues with the reliablility of the Wifi Dongle that comes with the current Angstrom builds.
I have followed others and currently go through the process of rebuilding the driver for the rtl8192... Instructions are up at: http://www.codealpha.net/864/how-to-set-up-a-rtl8192cu-on-the-beaglebone-black-bbb/ Note: There is a step missing in the instructions that you need to build the scripts. cd /usr/src/kernel make scripts
Also My code is setup to use an XBee and an SSC-32, both of which connect up as USB devices. I did not want my code to have to depend on the order the devices are added so I wished to setup rules to create an alias for these devices I found a lot of good information up at: http://hintshop.ludvig.co.nz/show/persistent-names-usb-serial-devices/ Note: I had to experiment as some of the devices would hang, so I had to find the right command sequence to work. Example: udevadm info --query=property --name=ttyUSB0
From this I created a file named 99-usb-serial.rules in the /etc/udev/rules.d directory. A copy of mine from the first Raspberry Pi is contained in the Phoenix directory. It looks like: SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A800fclo", SYMLINK+="ttyXBEE" SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A4014UWE", SYMLINK+="ttySSC-32"
Note: You will have to change the {Serial} value (and maybe some others if not FTDI) to the actual device on your machine.
Aflter I installed this file, if I type something like: ls -l /dev/ttyXBEE
I see something like: lrwxrwxrwx 1 root root 7 Dec 31 1969 /dev/ttyXBEE -> ttyUSB0
I can also use the same type of setup on the BBBk, but in addition to this, the BBBk has multiple Usarts available on expansion connectors P8/P9. However to use these, you need to update the device tree. I will put more information in here on how to do that, including files I use to update. More information up on: http://blog.pignology.net/2013/05/getting-uart2-devttyo1-working-on.html
Then you can copy or git the sources that I have up on github. The commands I did to do this is: cd ~ mkdir git cd git git clone git://github.com/KurtE/Raspberry_Pi cd Raspberry_Pi/Phoenix make
I want some form of sound capability on my robots, to help with different things like simply acknowledgments and also fun to play with speech. There is now code in the library directory for doing this.
I have been playing around with installing everything necessary to be able to install my Phoenix code on this Pi and be able to compile it. I installed it by using the following commands:
First currently code is dependent on using espeak code. Will probably make this optional later... To install the necessary stuff you need to do something like: sudo apt-get install espeak sudo apt-get install libespeak-dev
Also the Phoenix code base now has the capability of outputting tones to the speacker using PCM. To build
using this capability you will need the appropriate header files and the like:
sudo apt-get libasound2-dev
Note: this maybe should be:
sudo apt-get install libasound2
Note: you should then try to configure espeak and see if you can get it to work. More information earlier in this thread, but look at the data up at the link: http://elinux.org/RPi_Text_to_Speech_%28Speech_Synthesis%29
The only sound output for the BBBk is using the HDMI, which I don't wish to do. So on the BBBk I have installed a cheap USB sound card: http://www.amazon.com/dp/B002R33VWW/ref=pe_175190_21431760_M3T1_ST1_dp_1
I did not find any valid packages to install the ALSA, so I did it manually: wget ftp://ftp.alsa-project.org/pub/lib/a...1.0.25.tar.bz2 tar jxf alsa-lib-1.0.25.tar.bz2 cd alsa-lib-1.0.25 ./configure make install
This did not set the USB device to be default sound device, I used the command: aplay -L to list the nodes. From which I created the configuration file: /etc/asound.conf pcm.!default sysdefault:Device
Next up, install ESpeak, which also relies on a library portaudio. I downloaded the most recent package for portaudio from www.portaudio.com. I extracted it and then: ./configure make install
I downloaded espeak-1.47.11-source.zip from sourceforge.net. After I extracted the stuff from the zip file and copied down the sources, I then did: ./configure make clean make make install
Tried running and found that the portaudio library was in /usr/local/lib Could maybe move it, but instead defined:
LD_LIBRARY_PATH=/usr/local/lib
export LD_LIBRARY_PATH
in /etc/profile
...
Many overclock their RPI up from the default 700mhz up to 1000mhz to do this: sudo nano /boot/config.txt add or uncomment lines: arm_freq=1000 sdram_freq+500
More details up at: http://www.jeremymorgan.com/tutorials/raspberry-pi/how-to-overclock-raspberry-pi/ and http://raspberrypi.stackexchange.com/questions/1219/how-do-i-determine-the-current-mhz
More details about using the RPICONFIG and warnings about corrupting SDCards up at: http://elinux.org/RPiconfig#Overclocking_options
With the webcam I am playing around with the mjpg-streamer to stream from Pi to PC... Instructions on how to do this is up at: http://www.instructables.com/id/Create-an-internet-controlled-robot-using-Livebots/step5/Get-the-webcam-streamer-for-Raspberry-Pi/
I am now playing with trying to have Servos supported directly on the Beagle Bone Black. There are several threads up about enabling PWM support up on the BeagleBoard.org forums. Also a member created a C++ library for it, which I borrowed the code from as part of my library. More details up on a thread on the beagleBoard.org forums. Do a search for "c++ pwm" and should be thread by Saad Ahmad. Will point you through to a github Project: https://github.com/SaadAhmad/beaglebone-black-cpp-PWM
I have an updated copy of his library code included in mine plus a simple PWM test case, which enables two PWM pins and has them pulse from 500-2500us pulses.
There are issues with the default test-pwm driver that did not allow us to properly initialize two pwm devices on the same logical device. You need to update the compiled driver for this (/lib/modules/3.8.13/kernel/drivers/pwm/pwm_test.ko). Likewise he created duplicates of the device tree overlays, that initialized the values to a state that allowed both channels period to be set before they are initialized. They have names like: sc_pwm_P8_13-00A0.dtbo which must be coppied into: /lib/firmware.
When I reloaded the EmmC with the latest firmware 0620 I used his prebuilt binaries and instructions in his Readme.md and they appeared to work.
This is a work in progress
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