MasterBoard

Use the master board using the current API.

I/ Installation procedure

For now these instruction contain some private repository installation. Please ask mnaveau@tue.mpg.de or vberenz@tue.mpg.de in order to get access.

The first step is to create some development folder:

cd # this instruction will change directory to your current $HOME folder
mkdir devel
cd devel

Then you will need the treep configuration.

pip install --user -U treep # installation of treep.
git clone git@git-amd.tuebingen.mpg.de:amd-clmc/treep_amd_clmc.git
git clone git@github.com:machines-in-motion/treep_machines_in_motion.git

With this configuration we can clone the requiered packages.

treep --clone BLMC_ROBOTS
treep --clone BLMC_HARDWARE

See the package uDriver_firmware for flashing the udrivers. See the package master_board for the master board sdk and the firmeware.

The integration of the master_board_sdk has been started in the blmc_drivers package under the branch: mnaveau/master_board_sdk_support

In order to run a little demo of the master board SDK compile the code with catkin.

cd
cd devel/workspace
source /opt/[ros_distro]/setup.bash
catkin_make

II/ Running demos

And then run the demo without sudo under the master_board_sdk_catkin lib directory.

sudo ./devel/lib/master_board_sdk/demos_master_board_sdk [ethernet config]

In order to get your ethernet config one can run

ifconfig