HR OS1 Electronics and Framework Setup (Raspberry Pi)

Bradley Hallier edited this page May 26, 2015 · 16 revisions

This article will show you how to set up setup the electronics for your HR-OS1 using the Raspberry Pi as the main CPU. You will need the following items.

  • 1 x Raspberry Pi
  • 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 Bluetooth USB Dongle
  • 1 x Wifi USB Dongle
  • 1 x 8GB SD card with Raspbian installed
  • 1 x Keyboard
  • 1 x Mouse
  • 1 x HDMI Monitor

Click the image below to see a full video tutorial on how to setup the electronics and framework.

ID Servos HR-OS1

##Connect Raspberry Pi/ArbotiX Pro Data

Plug the 4-pin cable into the 4-pin to USB adaptor board. Plug the other end of 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 USB side of the adaptor board into one of the bottom USB ports on the Raspberry Pi. Plug the adpator board so that the gold plates are facing up.

##Connect Raspberry Pi/ArbotiX Power

See the picture below to see where to plug in the red and black jumper wires.

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 '5.0v', the 5v pin.

##Setup the Rapsberry Pi

Plug in your keyboard, mouse and monitor into your Raspberry Pi. Also plug in your Wifi dongle. You do not need to plug in your bluetooth dongle at this time. Now you can power on your 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 2 solid LEDs) and the Raspberry Pi (1 solid red LED and a flickering green LED). If you do not see these LEDs, unplug power immediately and check your wiring.

On your screen you should see scrolling text, and eventually see a login prompt. The default username is


and the defualt password is


You should not get a terminal prompt where you can issue commands. If you want to change your default password, issue the command


and follow the on screen directions.

Now you must make a change to the overclock settings on the Raspberry Pi. Type


to start the Raspberry Pi Configuration tool. We've set most of the settings correctly for you, but you'll need to navigate to the 'Overlock' setting. Hit enter to go past the first prompt then choose


from the options. Hit enter again to get past the next prompt, then go to 'Finish' and hit 'OK' to restart your pi. Once restarted, login to your pi again.

To start the GUI type


Once the GUI has initiated, open the 'Menu' in the upper left corner. Go to 'Preferences' and open 'Wifi Configuration'. From here click 'Scan' to look for local networks. In the 'Scan Results' window you may need to click 'Scan' to re-scan for networks. Find the network you want to connect to and double click it. You will need to enter your password in the 'PSK' field. Click 'OK' and select the network from the 'Network' drop down menu. Click 'Connect' to connect to the network. Once connected, you should see an IP address in the connection window. Make note of this address for later use. Now go to Menu -> Internet -> Web Browser to open a web browser. Go to a webpage to make sure you are connected to the internet. You can now shutdown the raspberry pi from Menu -> Shutdown. Power off your Raspberry Pi by unplugging the SMPS from the ArbotiX Pro. Unplug your keyboard, monitor, and mouse. You can now plug in your Bluetooth Dongle.

##Install PuTTY (Windows Only)

Windows users will need a program to open an SSH terminal to the Rapsberry Pi,=. PuTTY is a free program that will open a SSH Terminal terminal. You can download puTTy.ext here. You can now plug your power back in. Wait until the green light stops flickering (this means that the Raspberry Pi is done booting up).

##Open a Serial Terminal (Windows)

Open the Putty program. Enter in the IP address found in setup and click 'connect'. You may get a message askign you to add an 'RSA Fingerprint' to your system. Type 'Yes'. Once you are connected to the Raspberry Pi you will be asked for a password. Once you enter the system's password you will get the Rapsberry Pi Command Line prompt.

##Open a SSH Terminal (Mac/Linux) 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 you can connect to the Raspberry Pi by typing

ssh pi@

where '' is the IP address you found in setup. You may get a message askign you to add an 'RSA Fingerprint' to your system. Type 'Yes'. Once you are connected to the Raspberry Pi you will be asked for a password. Once you enter the system's password you will get the Rapsberry Pi Command Line prompt.


The custom Raspberry Pi Image 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 update the copy of the repo onto the root filesystem. We use Git to handle our repositories. Click here for more information on using Git.

First you will need to change directories into the Framework folder.

$ cd HROS1-Framework

Now issue a 'git pull' command to pull down all the changes from the main repository.

$ git pull

Once you've updated your repository,

change directories to the core library folder

$ cd Linux/build

Compile core framework libraries:

$ sudo make all

Ensure that no errors(warnings are OK) and that the darwin.a library object has been created. Type the following command to list the contents of the lib folder

$ ls ~/HROS1-Framework/Linux/lib

You should see 'darwin.a' as the only contents of the lib folder.

Now you can move on to setting the IDs for your servos.