Differences

This shows you the differences between two versions of the page.

--- en:distancelab:wirelessprogram [2012/03/30 17:18] – created illo
+++ en:distancelab:wirelessprogram [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+====== Wireless programming ======
+The technical solution description and a user manual for wireless programming of Distance Lab.
+===== Quick Guide =====
+**The Robot**
+  * Load Wireless_bootloader with a program called HapyJTAG2
+  * Check FuseBits –if Boot vector is enabled
+  * Fusebits: 90 F7
+  * Check configuration of the XBee\\
+**Distancelab Server **
+\\
+\\
+Loading the code:
+<code>
+./robocop -r [robot’s number] -f [the hex file name]
+./robocop -r 3 -f atmega2561_demo.hex
+</code>
+\\
+Creating reset\\
+<code>
+./robocop -r [robot’s number] -R
+./robocop -r 3 -R
+</code>
+\\
+Reading the ADC inputs:
+<code>
+./robocop -r [robot’s number] -a -i [interval (1/10 s)] -n [numbers of readings]
+./robocop -r 2 -a -i 1 -n 10
+</code>
+\\
+**In webserver**
+<code>
+</code>
+===== Detailed manual =====
+RoboCop is Linux based client program for Distancelab robots, it uses if necessary RobotLoader and RobotCharger. The RobotLoader contains bootloader, as the RobotLoader contains a charging program.\\
+{{:et:distancelab:robotite_haldamine.png?330|}}\\
+\\
+Some of the opportunities offered by RoboCop
+  * Loading the new .hex file to the robot
+  * XBee pin configuration
+  * Displaying  ADC values on console and saving them on User harddrive in .txt format
+  * Robot’s wireless module configuration check, check is done wireless
+  * Configuration of the robot’s wireless module, check is done wireless
+  * Monitoring the state of the robot and sending it to charge
+  * Refreshing the info about robots in the Distancelab webpage \\
+\\
+RoboLoader or wireless bootloader
+  * Takes into account possible errors arising from the radio communication
+  * Sends the data by blocks
+  * Checks the data blocks accuracy with checksum
+  * In case of error, sends the data again
+  * Has a reasonabe  delays \\
+\\
+RoboCharger also wireless charging program
+  * Contains algorithm for finding the charger
+  * Identifies the beginning of the charging cycle
+  * Identifies the end of the charging cycle
+  * Releases the charging station\\
+{{:et:distancelab:skeem.jpg?330|}}
+**Robocopi oleku kontroll**
+    *Pärib baasist robotite loetelu, olekud, seadistused ...
+    *Kontrollib iga roboti aku pinget, temperatuuri
+    *Vajadusel muudab roboti olekut (DIO4) active -> charge
+    *Saadab roboti laadima, laeb robotisse RoboCharger programmi
+    *Muudab roboti olekut Kauglabori veebikeskkonnas
+    *Salvestab (ADC) parameetrid, analüüsi (graafikute) tarbeks.
+**RoboCharger**
+    *Contains algorithm for seeking the charging station
+    *Detects the beginning of charging *
+    *Takse charging time in consideration just in case if chargind doesn't  end
+    *Checks the tempriture of the batteries, it’s also done by RoboCop
+    *Detects the end of charging cycle, free’s the charging station in a program
+    *Changes the robot status charge -> active
+==== Use of RoboCop====
+Usage: robocop [options]
+General options:\\
+  * -r remote 16 bit address\\
+  * -f <hexfile.hex>      flash robot\\
+  * -R reset robot\\
+  * -m maintenance (check batteries)\\
+GPIO options\\
+  * -g gpio num\\
+  * -v gpio value (0|1)\\
+ADC options\\
+  * -a read adc0 value\\
+  * -n <number> read number of samples\\
+  * -i <seconds> interval between samples\\
+  * -A all ADC's\\
+Diagnostics options\\
+  * -c check remote XBee configuration\\
+  * -F fix remote XBee configuration\\
+  * -m test MySQL connectivity\\
+** Uploading the code**
+-r3 = robot’s 16 bit address
+<code>
+./robocop -r [robot’s number] -f [hex fail name]
+./robocop -r 3 -f atmega2561_demo.hex
+</code>
+\\
+**Using the ADC  **
+\\
+Reading the ADC inputs:
+<code>
+./robocop -r [robot’s number] -a
+./robocop -r 3 -f -a
+</code>
+\\
+Monitoring battery level
+<code>
+./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)]
+./robocop -r 3 -a -n 100 -i 1
+</code>
+There will be 100 readings, taken in every 0.1 second, in a console
+\\
+All input ADC readings
+<code>
+./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)] -A
+./robocop -r 3 -a -n 100 -i 1 -A
+</code>
+\\
+**Other operations**\\
+\\
+XBee configuration control
+<code>
+./robocop -r [robot’s number] -c
+./robocop -r 3 -c
+</code>
+\\
+Improving the XBee configuration
+<code>
+./robocop -r [robot’s number] -F
+./robocop -r 3 -F
+</code>
+\\
+Creating reset
+<code>
+./robocop -r [robot’s number] -R
+./robocop -r 3 -R
+</code>
+\\
+GIPO pin configuration
+<code>
+./robocop -r [robot’s number] -g [pin number] -v [1|0]
+./robocop -r 3 -g 4 -v 1
+</code>
+g4 is XBee pin DIO4 and v1 means this pin is set to high\\
+\\
+**Locking**\\
+Using multiple RoboCop program is not a problem. User will wait in gueue until robot is free or time run’s out.