Intel Do-It-Yourself Challenge Robotics Hello World

Transcription

1 Intel Do-It-Yourself Challenge Robotics Hello World Cédric Andreolli Intel Software

2 Agenda

3 Agenda Introduction Prerequisites Working with Eclipse Conclusion

4 Introduction

5 Introduction Robotic can be very fun and exiting but you might think that it's very difficult to start!... YOU ARE WRONG This course will present you some cheap devices that you can use. We will also explain how to configure your development environment.

6 Prerequisites

7 Prerequisites For this first course, you will need : An computer with USB 2.0 Ubuntu installed A Phidget controller in this course, we recommand you to use the Phidget Advanced Servo

8 Prerequisites Prepare your Ubuntu We are going to use Eclipse, our first program will be in Java. Open a terminal and run the command: Intel:~/Downloads$ sudo apt-get install openjdk-7-jdk This command will install the JDK (Java Development Kit)

9 Prerequisites Prepare your Ubuntu Install libusb by typing the following command in a terminal. Intel:~/Downloads$ sudo apt-get install libusb-dev

10 Prerequisites Get Eclipse Download Eclipse for Java Developpers Uncompress the file and Eclipse is ready!

11 Prerequisites Install Phidget drivers On go on the Drivers page and download the drivers for your Ubuntu version (x86 or x64) And then

12 Prerequisites Install Phidget drivers In the terminal, retrieve the zip and uncompress it. intel:~/downloads#cp libphidget_ tar.gz ~/Applications intel:~/downloads#cd ~/Applications/ intel:~/applications#tar xvfz libphidget_ tar.gz intel:~/applications#cd libphidget Use./configure, make and make install to install the driver. intel:~/applications/libphidget #sudo./configure intel:~/applications/libphidget #sudo make intel:~/applications/libphidget #sudo make install

13 Prerequisites Check that it works On download the Phidget Generic C Examples. In the terminal, uncompress the file intel:~/downloads#tar xfvz phidget21-c-examples_ tar.gz

14 Prerequisites Check that it works Go in the examples directory: intel#cd phidget21-c-examples / Compile the Hello World: intel#gcc HelloWorld.c -o HelloWorld -lphidget21 Then test your program: Intel#sudo./HelloWorld Opening... Phidget Simple Playground (plug and unplug devices) Press Enter to end anytime... Hello Device Phidget Advanced Servo Controller 8-motor, Serial Number: Closing...

15 Prerequisites Check that it works In the output, you should see a line that describe your plugged device. Hello Device Phidget Advanced Servo Controller 8-motor, Serial Number: Sometimes, you need to unplug and plug the device on another USB slot.

16 Prerequisites Add udev rules Using the command sudo can be complicated (if you run your application in Eclipse for example). To get ride of sudo, in the terminal, type: intel:~#cd Applications/libphidget / intel:~/applications/libphidget #sudo cp udev/99-phidgets.rules /etc/ udev/rules.d [sudo] password for intel: intel:~/applications/libphidget #

17 Prerequisites Get the Java Library Our native library can be called in Java. But we need to download the jar first. Go on Download the files for Java

18 Prerequisites Get the Java Library Download the jar file: You are now ready for controlling the device in Java.

19 Working with Eclipse

20 Working with Eclipse Open Eclipse If open-jdk is correctly installed, you should have any problem with running Eclipse. Create a new Java Project Click on File New Project... and select Java Project.

21 Working with Eclipse Set your project's name Name your project Hello World and click on Finish

22 Working with Eclipse Create a folder for the library You can create a folder for your library. Right click on your project and then New Folder. You can name this folder lib

23 Working with Eclipse Put the jar file in lib You remember the jar file that we download few steps ago? you can put it in the lib folder In Eclipse, click select your project and press F5

24 Working with Eclipse Modify the classpath In Eclipse, right-click on the project, select Properties, then click on Java Build Path and finally Libraries.

25 Working with Eclipse Modify the classpath Click on Add Jars... and select the library. Then click on OK

26 Working with Eclipse Create a class Click on src New Class Create the main method by checking: public static void main(string[] args)

27 Working with Eclipse Plugin a motor on the card The card must be powered, plugged to the computer (USB) and a motor must be plugged on the slot 0.

28 Working with Eclipse In the main function Include all the packages requested by Eclipse.

29 Working with Eclipse Let's write startmotor Include all the packages requested by Eclipse.

30 Working with Eclipse Run the project If your card is correctly detected and that udev authorization are well set, the motor plugged to the card should move. If you have any problem, check your installation.

31 Conclusion

32 Conclusion Installation is easy As you can see, the installation on Linux is straight forward. You only need to install the Phidget drivers to make it work. Phidget also provides small test applications that can help you check your installation.

33 Conclusion Using the card is easy We need few lines of code to command the servos. Eclipse make the development easier. Samples available The samples that we used in this course are available on

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