Getting Started on Ubuntu

Brian Chapados edited this page Mar 20, 2015 · 16 revisions

These instructions assume you are using Ubuntu Desktop 12.04 (64-bit) or Ubuntu Desktop 13.10 (64-bit). Other versions may work as well. Regardless of the Ubuntu version, our testing suggests that Bluetooth LE support works best with Linux kernel versions >= 3.5.

Install dependencies

$ sudo apt-get install cmake \
                       curl \
                       git \
                       g++ \
                       libreadline-dev \
                       libglib2.0-dev

Fetch and compile Anki Drive SDK

$ mkdir ~/anki && cd ~/anki
$ git clone https://github.com/anki/drive-sdk.git
$ cd drive-sdk
$ mkdir -p build && cd build
$ cmake .. -DBUILD_EXAMPLES=ON
$ make
$ make test
$ make install

Bring up a Bluetooth adapter

  1. Obtain a suitable USB Bluetooth adapter like the Orico BTA-402

  2. Plug in the adapter and verify it is properly loaded by using lsusb

     $ lsusb
     Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
     Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
     Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
     Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
     Bus 002 Device 002: ID 0a12:0001 Cambridge Silicon Radio, Ltd Bluetooth Dongle (HCI mode)
    
  3. Enable the adapter with hciconfig (included with drive-sdk)

    $ sudo ~/anki/drive-sdk/build/dist/bin/hciconfig
    hci0:	Type: BR/EDR  Bus: USB
        BD Address: 00:02:5B:03:52:F3  ACL MTU: 310:10  SCO MTU: 64:8
        DOWN 
        RX bytes:473 acl:0 sco:0 events:19 errors:0
        TX bytes:317 acl:0 sco:0 commands:18 errors:0
    
    $ sudo ~/anki/drive-sdk/build/dist/bin/hciconfig hci0 up
    $ sudo ~/anki/drive-sdk/build/dist/bin/hciconfig
    hci0:	Type: BR/EDR  Bus: USB
        BD Address: 00:02:5B:03:52:F3  ACL MTU: 310:10  SCO MTU: 64:8
        UP RUNNING 
        RX bytes:940 acl:0 sco:0 events:37 errors:0
        TX bytes:634 acl:0 sco:0 commands:36 errors:0
    

Test out the example apps

Pull out Boson and Kourai from the Anki Drive Starter Kit and turn them on by pressing the little button on the bottom of each car.

  1. Scan for them with the vehicle-scan example app

    $ sudo ~/anki/drive-sdk/build/dist/bin/vehicle-scan
    LE Scan ...
    DF:FA:7F:89:61:D2 Drive [v2159] (Boson 1e00)
    F0:9C:17:98:F8:E8 Drive [v2120] (Kourai 10b3)
    

NOTE: version 2159 is required for compatibility with the current SDK.

If the version of your vehicle is less than 2159, please update the firmware using the iOS or Android Anki Drive apps.

  1. Connect to a vehicle using the device address, check version, ping, and enable sdk mode

    $ sudo ~/anki/drive-sdk/build/dist/bin/vehicle-tool --adapter=hci0 --device=DF:FA:7F:89:61:D2
    [DF:FA:7F:89:61:D2][LE]> connect
    Attempting to connect to DF:FA:7F:89:61:D2
    Connection successful
    Starting handle: 0x0009 Ending handle: 0xffff
    [handle: 0x000a, char properties: 0x0e, char value handle: 0x000b]
    [handle: 0x000c, char properties: 0x12, char value handle: 0x000d]
    [DF:FA:7F:89:61:D2][LE]> get-version
    [read] VERSION_RESPONSE: 0x2120
    [DF:FA:7F:89:61:D2][LE]> ping
    [read] PING_RESPONSE
    [DF:FA:7F:89:61:D2][LE]> sdk-mode 1
    
  2. Flash the tail-lights

    [DF:FA:7F:89:61:D2][LE]> set-lights-pattern TAIL FLASH 1 6 10
    
  3. Turn on SDK mode to enable driving commands

    sdk-mode 1
    
  4. Set the speed of the vehicle

    [DF:FA:7F:89:61:D2][LE]> set-speed 1000 25000
    
  5. For a list and description of all SDK functions, type 'help'

    [DF:FA:7F:89:61:D2][LE]> help
    help                                           Show this help
    exit                                           Exit interactive mode
    quit                                           Exit interactive mode
    connect         [address [address type]]       Connect to a remote device
    disconnect                                     Disconnect from a remote device
    mtu             <value>                        Exchange MTU for GATT/ATT
    sdk-mode        [on]                           Set SDK Mode
    ping                                           Send ping message to vehicle.
    get-version                                    Request vehicle software version.
    set-speed       <speed> <accel>                Set vehicle Speed (mm/sec) with acceleration (mm/sec^2)
    change-lane     <horizontal speed> <horizontal accel> <relative offset> (right(+), left(-)) Change lanes at speed (mm/sec), accel (mm/sec^2) in the specified direction (offset)
    set-lights-pattern <channel> <effect> <start> <end> <cycles_per_min> Set lights pattern for vehicle LEDs.
    set-engine-lights <red> <green> <blue> <effect> <cycles_per_min> Set the pattern for the engine lights.
    vehicle-disconnect                                Request that the vehicle disconnect (often more reliable than disconnect)
    send-data-req   <new value>                    Write data to vehicle (Request response)
    send-data       <new value>                    Write data to vehicle (No response)
    read-data                                      Read last message from vehicle
    
  6. Disconnect and exit from the vehicle SDK

    [DF:FA:7F:89:61:D2][LE]> vehicle-disconnect
    [DF:FA:7F:89:61:D2][LE]> exit 
    
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