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									Garcia Robots, An Introduction
                          CS 23
Hardware Architecture
HW Architecture

   The Stargate Board
   The Brainstem Board
       On-board sensors
       On-board motors.
   The Wireless Sensor
   The Webcam
HW Architecture

   Stargate
       A Intel-PXA255 ARM
        embedded development
        board.
       On board flash disk and
        memory.
       Two serial ports, one
        USB port, an Ethernet
        port , a wifi 802.11b
        card, and JTAG
        support.
Stargate Cont.....

   Two serial port:
       Red RS232 is used as
        the default text
        terminal.
       Another one is used to
        connect to Brainstem.
Stargate Cont...

   USB is connected by a
    USB-hub, which is
    connected by a web
    cam and a wireless
    sensor (tMote)‫‏‬
Brainstem (by Acroname)‫‏‬

   A special circuit board
    to receive commands
    from the serial port and
    execute them.
   Motors and range
    sensors are connected
    to Brainstem.
HW Architecture Overall
Embedded Linux
Stargate Embedded Linux

   A 2.6.24 patched linux kernel.
   Full support for many devices (webcam,
    sensors)‫‏‬
   JSFF2 file-system, accessing files on Flash
    chips as on hard drives.
Demo 1: Log on to Stargate

   Connect robots to
    the computer with a
    RS232 cable.

   Type “minicom” in
    the computer

   Start the robot!
   User: root
   Password: rootme
Demo 2: Ad-hoc to the robot

   Each robot is configured to Ad-hoc mode when it
    powers up.
   Using Ad-hoc wireless to connect to the robot
   Each robot has a SSID: “xxx-Garcia”, configure
    your laptop to ad-hoc to the SSID.
   Set your laptop’s IP to 129.168.3.n (100<n<200)‫‏‬
   Ssh to the robot with its IP on the label
Demo 3: Using Dartmouth Wireless

   Run the script: ~/changewifi2manage.sh on the
    robot side.
   Your robot will be using Dartmouth Wireless
    Network now.
   If you previously connected through Ad-hoc, your
    connection will lost.
   The IP of your robot will be randomly assigned
    by Dartmouth Network Service.
Demo 4: Hello World
Cross-Compiling
   Write a helloworld.c
   Compile it with cross-compiler at:
       [darwin]$/usr/local/arm/3.3.2/bin/arm-linux-gcc -o helloworld helloworld.c

   Now try type:
       [darwin]$file helloworld
       helloworld: ELF 32-bit LSB executable, ARM, version
        1, dynamically linked (uses shared libs), for
        GNU/Linux 2.0.0, not stripped
Demo 4:
Copying helloworld to Stargate and
run
   We need scp (copy via ssh).
       [darwin]$scp ./helloworld root@[the stargate ip]: /root/

								
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