Intel Do-It-Yourself ChallengeRobotics Hello World

Cdric Andreolliwww.Intel-Software-Academic-Program.com

paul.guermonprez@intel.comIntel Software

2013-02-08

Agenda

Agenda

Introduction

Prerequisites

Working with Eclipse

Conclusion

Introduction

Introduction

Robotic can be very fun and exiting but you might think that it's very difficult to start!... YOU ARE WRONG

This course will present you some cheap devices that you can use.We will also explain how to configure your development environment.

Prerequisites

Prerequisites

For this first course, you will need : An computer with USB 2.0 Ubuntu 12.04 installed A Phidget controller in this course, we recommand

you to use the Phidget Advanced Servo

Prerequisites

Prepare your UbuntuWe are going to use Eclipse, our first program will be in Java.Open a terminal and run the command:

This command will install the JDK (Java Development Kit)

Intel:~/Downloads$ sudo apt-get install openjdk-7-jdk

Prerequisites

Prepare your UbuntuInstall libusb by typing the following command in a terminal.

Intel:~/Downloads$ sudo apt-get install libusb-dev

Prerequisites

Get EclipseDownload Eclipse for Java Developpers

Uncompress the file and Eclipse is ready!

Prerequisites

Install Phidget driversOn http://www.phidgets.com go on the Drivers page and download the drivers for your Ubuntu version (x86 or x64)

And then

Prerequisites

Install Phidget driversIn the terminal, retrieve the zip and uncompress it.

Use ./configure, make and make install to install the driver.

intel:~/Downloads#cp libphidget_2.1.8.20130320.tar.gz ~/Applicationsintel:~/Downloads#cd ~/Applications/intel:~/Applications#tar xvfz libphidget_2.1.8.20130320.tar.gzintel:~/Applications#cd libphidget-2.1.8.20130320

intel:~/Applications/libphidget-2.1.8.20130320#sudo ./configure

intel:~/Applications/libphidget-2.1.8.20130320#sudo make

intel:~/Applications/libphidget-2.1.8.20130320#sudo make install

Prerequisites

Check that it worksOn http://www.phidgets.com/docs/OS_-_Linux download the Phidget Generic C Examples.

In the terminal, uncompress the fileintel:~/Downloads#tar xfvz phidget21-c-examples_2.1.8.20130320.tar.gz

Prerequisites

Check that it worksGo in the examples directory:

Compile the Hello World:

Then test your program:

intel#cd phidget21-c-examples-2.1.8.20130320/

intel#gcc HelloWorld.c -o HelloWorld -lphidget21

Intel#sudo ./HelloWorld Opening...Phidget Simple Playground (plug and unplug devices)Press Enter to end anytime...Hello Device Phidget Advanced Servo Controller 8-motor, Serial Number: 177940

Closing...

Prerequisites

Check that it worksIn the output, you should see a line that describe your plugged device.

Sometimes, you need to unplug and plug the device on another USB slot.

Hello Device Phidget Advanced Servo Controller 8-motor, Serial Number: 177940

Prerequisites

Add udev rulesUsing the command sudo can be complicated (if you run your application in Eclipse for example). To get ride of sudo, in the terminal, type:intel:~#cd Applications/libphidget-2.1.8.20130320/intel:~/Applications/libphidget-2.1.8.20130320#sudo cp udev/99-phidgets.rules /etc/udev/rules.d[sudo] password for intel: intel:~/Applications/libphidget-2.1.8.20130320#

Prerequisites

Get the Java LibraryOur native library can be called in Java. But we need to download the jar first. Go onhttp://www.phidgets.com/docs/Programming_Resources

Download the files for Java

Prerequisites

Get the Java LibraryDownload the jar file:

You are now ready for controlling the device in Java.

Working with Eclipse

Working with Eclipse

Open EclipseIf open-jdk is correctly installed, you should have any problem with running Eclipse.Create a new Java ProjectClick on File New Project... and select Java Project.

Working with Eclipse

Set your project's nameName your project Hello World and click on Finish

Working with Eclipse

Create a folder for the libraryYou can create a folder for your library. Right click on your project and then New Folder.You can name this folder lib

Working with Eclipse

Put the jar file in libYou remember the jar file that we download few steps ago ? you can put it in the lib folder

In Eclipse, click select your project and press F5

Working with Eclipse

Modify the classpathIn Eclipse, right-click on the project, select Properties, then click on Java Build Path and finally Libraries.

Working with Eclipse

Modify the classpathClick on Add Jars... and select the library.

Then click on OK

Working with Eclipse

Create a classClick on src New Class

Create the main method by checking: public static void main(String[] args)

Working with Eclipse

Plugin a motor on the cardThe card must be powered, plugged to the computer (USB) and a motor must be plugged on the slot 0.

Working with Eclipse

In the main function

Include all the packages requested by Eclipse.

Working with Eclipse

Let's write startMotor

Include all the packages requested by Eclipse.

Working with Eclipse

Run the projectIf your card is correctly detected and that udev authorization are well set, the motor plugged to the card should move.If you have any problem, check your installation.

Conclusion

Conclusion

Installation is easyAs you can see, the installation on Linux is straight forward.You only need to install the Phidget drivers to make it work.Phidget also provides small test applications that can help you check your installation.

Conclusion

Using the card is easyWe need few lines of code to command the servos.Eclipse make the development easier.Samples availableThe samples that we used in this course are available on www.intel-software-academic-program.com.

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