Differences

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--- mobile_vehicule [2016/02/19 12:57]
nfave [Connections]
+++ mobile_vehicule [2016/02/19 13:52]
nfave [Requirements]
@@ Line 15: / Line 15: @@
 You must also install the openni_tracker_modified package [[OpenniTrackerModified]] with the driver for the kinect [[LinkToDriver]] and the rosserial_arduino package http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup. If you don't know how to do this, see the tutorial http://wiki.ros.org/ROS/Tutorials/CreatingPackage. You have to use the Indigo distro and the Catkin package type.
-To finish, you have to install the last version of the [[arduino|Arduino IDE]] on your computer https://www.arduino.cc/en/Main/Software.
+To finish, you have to install the version 1.6.5 or 1.6.6 of the [[arduino|Arduino IDE]] on your computer https://www.arduino.cc/en/Main/Software.
 ===== Connections =====
+====Encoders connections====
 {{:encoder_connexion.png?1200|}}
+====Motors connections====
 {{:motor_control.png?1200|}}
@@ Line 25: / Line 29: @@
 ===== Instructions =====
-To translate
+  - Connect the computer to the arduino Due
+  - Open a console and enter the command "roscore"
-  - Connecter le cable micro usb à l'arduino.
+  - Open a new console and enter the command "rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200"
-  - Ouvrez un autre terminal et lancer la commande roscore
+  - [...]
-  - Ouvrez un autre terminal et lancer la commande rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200
+  - Supply the platform with a 12V supplier
-  - Ouvrez un autre terminal, lancez la commande source ~/catkin_ws/devel/setup.bash
+  - Do the Psi pose in front of the kinect, until you are detected.
-  - Dans ce même terminal, lancez la commande rosrun openni_tracker_modified openni_tracker_modified
+  - When you move away from the robot, the robot will follow you. Inversely, when you get closer to the robot, he will go away. Moreover, the robot will turn toward you if you move.
-  - Faites la pose Psi devant la kinect, jusqu'à ce qu'un message indique que la calibration a été effectuée
+  - If you want to debug the program, there is a Ros topic used by the platform to give indications of what it is doing. In order to listen this topic, open a new console and enter the command rostopic echo /chatter
-  - En vous éloignant ou en vous rapprochant de la kinect, cela doit activer ou non les moteurs du robot.
-  - Vous pouvez observer les topics torsoPosition et chatter pour connaitre votre position selon l point de vu de la kinect ou du robot. Pour cela, lancer dans un autre teminal la commande rostopic echo <nom de votre topic>
-Modification du code openni_tracker_modified (kinect)
-  - Allez dans le repertoire ~/catkin_ws/src/openni_tracker_modified/src/openni_tracker_modified.cpp, puis faites vos modifications.
-  - Il faut ensuite dans un terminal faire la commande source ~/catkin_ws/devel/setup.bash si ce n'est pas déjà fait, puis allez dans le repertoire catkin_ws et lancer la commande catkin_make.
+===== Known problems =====
-Modification du code arduino (robot)
+- When you are uploading the code on the arsuino Due, be sure to have stop the rosserial_python process.
-  - Dans un terminal, aller dans le repertoire arduino-1.6.5/ et lancer la commande sudo ./arduino
+- If the wheels are turning in the bad way, are too fast or are trembling, check the connections of the motors supply (AO1 and AO2) and the connections of the encoders.
-  - Vérifier que la carte est la bonne (arduino due) ansi que le port (arduino due programing port)
-  - Vérifiez puis téléverser le code
 ===== Source Code =====