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HR OS1 Electronics and Framework Setup (Intel Edison)
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This article will show you how to set up setup the electronics for your HR-OS1 using the Intel Edison as the main CPU. You will need the following items.
- 1 x Intel Edison
- 1 x Intel Edison Mini Breakout Board
- 1 x ArbotiX Pro
- 1 x 12v 10A Switched Mode Power Supply (SMPS)
- 2 x Power Jumpers (1 red, 1 black)
- 1 x 4-pin cable
- 1 x USB to 4-pin adapter board
- 1 x USB on-the-go cable
Click the image below to see a full video tutorial on how to setup the electronics and framework.
##Mount the Intel Edison Look at the underside of the Intel Edison board and locate the 70-pin connector. You will need to match this connector up with the 70-pin connector on the mini breakout board. Once you have the correct orientation you can lower the Edison onto the screw posts on the mini breakout board. Gently push the edison down until the 70-pin connectors snap together.
##Prepare the USB cable
First you will need to prepare the data cable to connect the ArbotiX-Pro to the Intel Edison breakout board. Take the 4-pin cable and plug it into the USB to 4-pin adaptor board. Now plug the adaptor board into the female port on the USB on-the-go cable. when you plug the two together, the gold metal pads on the adaptor board should face up and the USB symbol on the USB on-the-go cable should face up.
This picture shows zip-ties to secure the cable, but you will not need that at this time.
##Connect Edison/ArbotiX Pro Data
Plug the 4-pin cable into the avaialble 4-pin connector on the ArbotiX pro that sits next to the micro USB cable. Do NOT plug it into either of the two 4-pin connectors that sit next to the 3-pin DYNAMIXEL connectors. Plug the other end of the cable (the USB-micro end) into the USB micro port on the Intel Edison that is next to the power jumpers.
##Connect Edison/ArbotiX Power
The power jumpers on the mini breakout board are the pins closest to the USB ports. The pin closest to the end of edge of the board is the ground pin, and should be plugged into the black jumper wire. The second pin that is further from the edge of the board should be plugged into the red wire.
The power jumpers on the ArbotiX Pro are located next to the power regulators. Plug the black cable into the pin labeled 'GND'. Plug the red cable into the pin labeled 'VIN', the 12v pin.
##Connect the Edison to Your Computer Use the included micro USB cable to plug your Intel Edison into your computer. The Micro USB cable should plug into the USB port on the breakout board furthest from the power jumpers.
##Install the FTDI drivers
Now you will need to install FTDI drivers. These drivers will allow you to communicate with your Intel Edison via the USB port. Some modern Operating Systems either have these drivers or can automatically find them. If you don't have the drivers or you are unsure, you can find the FTDI drivers here, and a guide to installing them here. You will need to install the VCP drivers (not the D2XX drivers)
Note: Windows users can download the the drivers and install them through the windows hardware wizard, or click on the 'setup executable' link automate the process.
##Install PuTTY (Windows Only)
Windows users will need a program to open a serial terminal to the Intel Edison. PuTTY is a free program that will open a serial terminal. You can download puTTy.ext here.
##Open a Serial Terminal (Mac/Linux) First you will need to locate the serial port that your Intel Edison is connected to. Open up a command line terminal. On Mac OS X you can find the terminal application under
Applications -> Utilities -> Terminal
Once you have a terminal open you can list out the serial terminal ports. On Linux, type
`ls /dev | grep ttyU'
This will list the contents of the /dev directory that start with 'ttyU'. This command should return
On Mac OS X type
`ls /dev | grep tty.u'
this should return something like
though the last 8 characters will be different.
Now that you have the serial port identified, you can use the screen command to open a serial terminal. On Linux type
screen /dev/ttyUSB0 115200
On Mac OS X type
screen /dev/tty.usbserial-A102S113 115200
replacing 'A102S113' with the port you retreived from the ls command. The terminal will be empty until you power on the Intel Edison.
Note:On Linux if you get any errors while using the screen command, try
sudo screen /dev/ttyUSB0 115200
##Open a Serial Terminal (Windows)
First open the Device Manager in Windows. Right click on 'Computer' and go to 'Properties' On the left navigation menu you should see 'Device Manager'. In the Device Manager click on the arrow next to 'Ports (COM & LPT)'. You should see 'USB Serial Port COM' followed by a number. Take note of this number.
Now open the Putty program. Change the connection type to 'Serial' Now instead of 'COM1' enter in the port number you found in the device manager. Change the defualt speed (9600) to 115200, the speed used to communicate with the Intel Edison. Now click 'Connect'. The terminal will be empty until you power on the Intel Edison.
##Power the system
Plug your 12v SMPS into a wall outlet. The green light on the SMPS should turn on. When you plug in the SMPS barrel jack into the female connector on the ArbotiX Pro, you should see LED lights on the ArbotiX Pro (3 lights that flash on power up and 4 solid LEDs) and the Intel Edison (2 solid LEDs). If you do not see these LEDs, unplug power immediately and check your wiring.
You should see text on your Serial Terminal now.
Login and Setup
When you see the login prompt, type the login name
No password is required. To configure the Edison, type
This will start the Intel Edison Configuration script. You will be asked to enter a password and a name for the edison. You will then be asked if you want to setup wifi. Setup the wifi to connect the Intel Edison to your computer. If everything is sucessful, you will be given a URL witht the IP address of your Edison. Put this URL into your web browser and you should see an Intel branded page with the name you specificed during setup.
The custom Edison build we use has all dependencies for the Framework pre-installed. We will have noted on builing an image from scratch in a future article.
First we must and clone a fresh copy of the repo onto the root filesystem. We use Git to handle our repositories. Click here for more information on using Git.
- Clone HROS1-Framework Github Repo
- We install the Framework in the home folder.
$ git clone https://github.com/Interbotix/HROS1-Framework.git
- Change directory to HROS1-Framework:
$ cd HROS1-Framework
Build Framework Libraries & Projects
- Compiling Framework Libraries
- The Makefile for the core library is found here:
- Change directory in Terminal to build folder:
$ cd ~/HROS1-Framework/Linux/build
- Compile core framework libraries:
$ make all
- Ensure that no errors exit the compile process, and that the
darwin.alibrary object has been created:
$ ls ~/HROS1-Framework/Linux/lib
Now you can move on to setting the IDs for your servos.