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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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