neoviki / amiro.robot.autonomous.docking Goto Github PK

In this project we made a differential wheeled robot named AMiRo dock to a charging point autonomously.

The development environment is setup in ubuntu 16.04. The following steps are tried and tested in ubuntu 16.04.

0. cd ~/; sudo apt-get install cmake gcc-multilib

1. git clone <this_repo>

2. cd <this_repo>

3. cd src/amiro-blt

4. ./setup

5. Select [B] - enter bootloaders setup

6. Select [S] - enter AMiRo-BLT setup

7. Select [S] - build SerialBoot tool

8. Select y - WARNING: SerialBoot has been built before. Delete and rebuild? [y/n]

9. Select [C] - enter compiler setup

10. Select [G] - enter GCC setup

11. Select [I] - install another version

12. Copy proper link from: [https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update]

    FOR UBUNTU: https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-linux.tar.bz2
    FOR MAC: https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-mac.tar.bz2
    FOR Windows: https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-win32.exe
    

13. Installation directory: ~/opt/gcc-arm-none-eabi-4_8-2014q1

14. Link directory: ~/opt

15. Select [Q] - quit this setup

16. Add gcc path to .bashrc

    echo "export PATH=$PATH:~/opt/" >> ~/.bashrc

17. Add SerialBoot path to .bashrc

    echo "export SERIALBOOT="~/AMiRo_ROBOT_Autonomous_Docking_v1/src/amiro-blt/bootloader/AMiRo-BLT/Host/Source/SerialBoot/build/SerialBoot"" >> ~/.bashrc

18. source ~/.bashrc

19. cd ../amiro-os

20. cd devices

21. make all

22. make flash #Connect AMIRO via Serial before flashing

1. AMiRo needs the gcc version 4.8.3 [Make sure it is installed in your system]

2. Check gcc version by executing

   $arm-none-eabi-gcc -v

3. Compiling code [ for more details, follow README.txt from amiro_os ]

    $cd ./amiro-os/devices
    $make all
   

4. Flash code to AMiRo Robot

    	$make flash
   

1. Open ~/.gtktermrc

   #Modify the following [AMiRo] port = /dev/ttyUSB0 speed = 115200 crlfauto = True #save and exit

2. $gtkterm -c AMiRo

   $[Enter F8 to enter amiro cli]

   #Keep amiro in deepsleep mode [it is like turning off the amiro] $shutdown d

Docker code location : <base_dir>/src/amiro-os/devices/DiWheelDrive/docker/docker_main.cpp