Asibot - Developer Info
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WARINIG: THIS IS OBSOLETE FOR CARTESIANSERVER!!!!!
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