Asibot - Developer Info

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Code Repositories

Asibot - The Code Repository (RCGv02 & RCGv03): SVN also available via TRAC

Asibot - Code at Sourceforge (RCGv04): browse, SVN TRAC

Mechanical Repositories

Asibot - Mechanical Parts at the Main Repository: SVN also available via TRAC

Reference Frames

WARINIG: THIS IS OBSOLETE FOR CARTESIANSERVER!!!!! ToolCoordinates.png

FK solution w/ geometric Jacobian as of 2017 (working with current config in OpenRAVE simulator): Media:ASIBOT kinematics.pdf.

Network IP Configuration

Robot LAN IP address: 192.168.3.11 -> Cuando se desconfigura, 192.168.1.1 (obten tu automat ip), user:(NO_HAY) pass:admin

Wireless Network SSID: Connect (case-sensitive)

  • 222.222.1.1 -> PDA
  • 222.222.1.2 -> Robot
  • 222.222.1.3 -> Router

Robot Kernel Information

root@phyCORE-PXA270:~ uname -a

Linux phyCORE-PXA270 2.6.23.1-rt5-ptx2-pcm027-1 #2 PREEMPT RT Mon Nov 3 17:02:39 CET 2008 armv5tel unknown

Resource Information of PXA-270

  • RAM: 54 M
    • Used (OS, telnet): 9.5 M
    • Available (OS, telnet): 44.5 M
  • FLASH: 27.8 M
    • Used: 13.0 M
    • Available: 14.8 M

Debuging for PXA-270

For debugging via Eclipse:

# gdbserver 222.222.1.1:10000 ./AsibotDevelop

Cross-Compiling for PXA-270

A VirtualBox image with the gnueabi toolchain set up is available:

http://robots.uc3m.es/svn/ASIBOTrepo/Resources/Tools/Software/VDIs/vdebian4cc.vdi

Setting environment for cross-compiling:

$ export PATH=$PATH:/opt/OSELAS.Toolchain-1.1.1/arm-iwmmx-linux-gnueabi/gcc-4.1.2-glibc-2.5-kernel-2.6.18/bin

For CMake (>= 2.6) cross-compiling also set:

$ export CC='arm-iwmmx-linux-gnueabi-gcc' CXX='arm-iwmmx-linux-gnueabi-g++'

In most cases, simply:

$ source ./toSource

Or just:

$ ./compile

With ./configure, i've sometimes needed:

$ ./configure --host i686????arm-iwmmx-linux-gnueabi???????
or
$ ./configure --host arm-iwmmx-linux-gnueabi