-
Notifications
You must be signed in to change notification settings - Fork 1
/
install guide.txt
140 lines (101 loc) · 5.24 KB
/
install guide.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
*************************************
Projet s4 - GRO - H19
Last update:2019/04/10 - 15:54
**************************************
List of material:
-raspberty pi (3 or 3b+)
-Kinect (Xbox 360)
-openCR card (http://emanual.robotis.com/docs/en/parts/controller/opencr10/)
-Cytron drive (MD10C R3)
-pololu motor (9.7:1 - 25Dx48L)
-Dynamixel motor (XL430-W250-T)
-Dynamixel motor (XM430-W350-T)
-Hitec motor (HS-422 Servo)
*************************************
SETUP the hardware
-Mechanical assembly and parts are available under Hardware-Aim-bot repository
-Wiring diagram can be found under Code-Aim-bot/Electronics
-Follow the wiring diagram and:
-plug the pololu motor to the cytron drive
-plug the drive to the openCR card
-plug the 2 dynamixel in the openCR card
-plug the Hitec servo-motor to the openCR card
-Connect the openCR card and the raspberry Pi together with USB
-plug the kinect using USB and it's own power supply to the raspberry Pi
-Power up the kinect, raspberry Pi and the OpenCR card
*************************************
***** Installation guide ********************************************************************
1- install Ros on a raspbery pi
1.1 - download the Ubiquity pi image"2019-02-19-ubiquity-xenial-lxde" from this link : https://downloads.ubiquityrobotics.com/pi.html
1.2 - Flash an sd car with the image (you can use Etcher for this. https://www.balena.io/etcher/ )
1.3 - put the sd card in the raspberry pi and power on.
1.4 - Username: ubuntu / Pw: ubuntu
1.5 - after booting, run this command "sudo systemctl disable magni-base" on terminal to disabled the Ubiquity startup scripts.
2 - Setup your wifi connection on the pi
2.1 - (be sure to have a internet conection before next step)
2.2 - After you're connected, set your time zone properly
In menu under "System Tools/Time and Date" choose your time zone and select "keep synchronized with internet servers"
Reboot your system (From terminal) "reboot"
3 - install all the Ros packages needed
(all the comand for step 3 are run in the terminal. you can copy/past them witout the " ")
3.1 - Update*?*
"sudo apt update"
3.2 - install freenect nodes and dependencies
"sudo apt install ros-kinetic-freenect-launch "
3.3 - install depthimage-to-laserscan node
"sudo apt install ros-kinetic-depthimage-to-laserscan"
3.4 - install rosserial
"sudo apt-get install ros-kinetic-rosserial"
4 - Clone the git project
4.1 - Go to "/home/ubuntu/catkin_ws/src" and delete all the files in this folder
4.2 - Open a terminal from this place and clone the git rep
"git clone -b Develop https://github.com/ProjetS4-Aimteam/Code-Aim-bot.git"
5 - Catkin_make
6.1 - cd into your catkin_ws folder
6.1 - Execute the command "catkin_make"
6 - Start all
5.1 - Go to "catkin_ws" folder and source your workspace
"source devel/setup.bash
5.2 - run the launch file
"roslaunch filtre filtre.launch"
************** USER GUIDE *************************************************************
At this point, the robot should be plugged in and you should be connected to your raspberry pi via HDMI or VNC*
1 - Preparation for start command
1.1 Open lxterminal in the start menu under System Tools
1.2 Click on "File" and then " + New Tab"
1.3 Go back to the first Tab
2 - Start the system
("" = To write as a command line)
2.1 - move to catkin workspace
"cd catkin_ws/"
2.2 - Start the main packgage
"roslaunch filtre filtre.launch"
2.3 Start the user Interface
Switch to the other tab opened on step 1.2 of the user guide
"rqt -s RQT_GUI.aimbot_gui_plugin.AimBotPugin"
3 - Mode Selection
3.1 - Move to the 'Manual Control' Tab
3.2 - From the drop menu on the top left, select the desired mode
3.2.1 - STOP : You can move the Tilt and Pan angle but the launching wheels won't move
3.2.2 - MANUAL : You can move the Tilt and Pan angle and start the launching wheels
3.2.3 - AUTO : The robot will detect the next target and get ready to aim for it
4 - Automatic Mode
4.1 - Calculate the distance in height between the top of the glass used and the flat base where the balls are launch from.
(Typically it should be close to 0.07 m)
4.2 - Follow the instruction under (3 - Mode Selection) and select AUTO.
The Robot will start adjusting to aim for the first glass in sight.
4.3 - When the target is aquired, click on 'LAUNCH' to destroy your opponent!
5 - Manual mode
5.1 To change the Tilt angle, simply change the Tilt_angle value in the Manual Control window
Min: 0, Max: 75
5.2 To change the Pan angle, simply change the Pan_angle value in the Manual Control window
Min : -10, Max: 10
5.3 To change the launcher speed, simply change the Motor_speed value in the Manual Control window
Min : 0, Max : 108
5.4 To active the ball distributor, click on 'LAUNCH'
6 - PID
- It's recommanded to keep the values as they are as standard but they can be adjusted simply by changing the value in the desired field.
- STANDARD VALUEs:
- SPEED : KP = 1.50, KI = 0.5, KD = 0.0
***** END ************************************************
* To use VNC and be wireless -> https://www.realvnc.com/en/connect/download/viewer/