This is the DPS941 Robot - Colaberative repo

Robotics Group 5

Adam

Edwin

Kevin

Vimal

Robot C Download Link

http://www.robotc.net/download/arduino/

Other Links

Login and make and account for RobotC IDE

https://www.vexrobotics.com/customer/account/login/

BeagleBone Model

https://www.digikey.com/products/en?lang=en&site=us&KeyWords=BBBWL-SC-562-ND

Debian Images

https://beagleboard.org/latest-images

Getting the board ready

With Debian Image 2018-10-01 flash the board and restart

https://rcn-ee.com/rootfs/bb.org/testing/2018-10-01/lxqt-4gb/BBB-blank-debian-8.11-lxqt-4gb-armhf-2018-10-01-4gb.img.xz

Login

Credentials: debian Password: temppwd

Check this version

Run this command

debian@beaglebone:~$ sudo /opt/scripts/tools/version.sh

Output

git:/opt/scripts/:[1aa73453b2c980b75e31e83dab7dd8b6696f10c7]
]eprom:[A335BNLT▒O
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Image 2018-10-01]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2018.09-00002-g0b54a51eee]:[location: dd MBR
kernel:[4.4.113-ti-r149]
nodejs:[v4.9.1]
device-tree-override:[dtb=]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-RPROC-4-4-TI-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.4.20180928.0-0rcnee0~jessie+20180928]
pkg:[bb-wl18xx-firmware]:[1.20180517-0rcnee0~jessie+20180517]
pkg:[kmod]:[18-3rcnee1~jessie+20171005]
pkg:[roboticscape]:[0.3.4-git20170602-0rcnee4~jessie+20171108]:[GOT_REPLACED_BY_NEXT]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~jessie+20180328]
groups:[debian : debian adm kmem dialout cdrom floppy audio dip video plugdev users systemd-jou
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk1p1 ro roo
dmesg | grep pinctrl-single
[    1.193856] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 568
dmesg | grep gpio-of-helper
[    1.194910] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0
[    1.195525] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1
[    1.195683] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2
[    1.195824] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3
[    1.195975] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4
[    1.196113] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5
[    1.196252] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6
[    1.196398] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7
[    1.196575] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8
[    1.196728] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9
[    1.196866] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10
[    1.197005] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11
[    1.197157] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12
[    1.197298] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13
[    1.197437] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14
[    1.197581] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15
[    1.197724] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16
[    1.197880] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17
[    1.198021] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18
[    1.198167] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19
[    1.198317] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20
[    1.198502] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21
[    1.198645] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22
[    1.198793] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23
[    1.199250] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24
[    1.199433] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25
[    1.199592] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26
[    1.199738] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27
[    1.199892] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28
[    1.200040] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29
[    1.200184] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30
[    1.200337] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31
[    1.200473] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32
[    1.200602] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33
[    1.200739] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34
[    1.200750] gpio-of-helper ocp:cape-universal: ready
END

If your wlan0 is not showing up you need to do these additional steps

Get a jumper cable wire and connect GND to TP1 then

sudo dd if=/opt/scripts/device/bone/bbbw-eeprom.dump of=/sys/devices/platform/ocp/44e0b000.i2c/i2c-0/0-0050/eeprom

sudo reboot

Should give you something like this

Disconnect the wire

Check Ports

ls -l /dev/ttyO*

you should have an output that looks like this:

Configure pins for uart protocol

sudo config-pin P9.11 uart

sudo config-pin P9.13 uart

Run code on RobotC

Configure the robot c code from this repo (TelemetryCode.c) to communicate properly with these pins

While RobotC is broadcasting - use the cat command to see if the output is being received.

Install the latest packages. Namely zip and gdb - needed to execute code remotely via Visual Studios.

We need internet connectivity on the Beagle Bone. SSH into the BBB using root@192.168.7.2 <-- this is the default USB IP address for your BBB

ifconfig

ensure that you can see all interface channels on the board (usb0 , usb1, eth0, wlan0)

STEP1:

connmanctl

From the connmanctl prompt, type in the following commands:

-- tether wifi disable

To have internet connection - you can have your beaglebone connect to the internet with > connmanctl

connmanctl > agent on

connmanctl > scan wifi

connmanctl > services

connmanctl > connect [_____Key Token Here_______]

. You can later link to the BeagleBone in order to restore internet access to your device.

STEP2:

exit the connmanctl program and get back to a standard command prompt on the BBB

STEP3:

sudo apt-get update

NOTE: Let this run, it will update the package DBs and could take several minutes. Don't interrupt it

STEP4:

sudo apt-get install zip

NOTE: This will install the compression zip utilities on the BBB. These are required for Visual Studio to create the remote GDB connections

It may also be necessary to updage GDB -

sudo apt-get install GDB

STEP5:

Start connmanctl again and type

-- tether wifi enable

STEP6:

Connect your laptop to the BeagleBone SSID, and go through the process of creating a cross-compiler remote connection with Visual Studio.

The default password for the connection is: BeagleBone

Configuring Visual Studios

Ensure you have the latest packages to deploy onto a ARM (Linux) system.

Make a new Empty Project

Tools > Options > Cross Platfrom > Connection Manager

Your host name should be something like 192.168.8.1 and enter in any other needed credentials for logging in

You should be able to run UartConnection.cpp on the beaglebone.

All of the working files are located in the working file folder. The robot can be teleoperated to start and stop driving with the command 1, but the robot's telemetry feedback is messed up. Need to work on this feedback since its crucial to the rest of the telemetry.