How to use the Oncilla robot

Quick start

  • Boot the computer using the real-time kernel 'rt18-custom'
  • Switch on the power supply: 12.8-13.1V, 30Amps
  • Press the red button on the Oncilla PowerBoard (The onboard linux will boot now)
  • Press the black buttons to activate the motor boards
  • Connect to the Oncilla onboard computer: ssh oncilla@10.0.0.102 (the password is graz)
  • Run the server program sudo ./runServer.sh (the password is graz)
  • Start MATLAB and run your client program

Git repository

  • git@git.ias.informatik.tu-darmstadt.de:YOURUSERNAME/oncilla.git

Where to save your Matlab Client applications

  • in your local home folder.
  • In the git repository there are several example programs to test (MatlabClients/Examples)

Where to save large data files

  • /localShare/OncillaData

Example Matlab Client

javaaddpath([pwd filesep 'OncillaClientPkg.jar']);
import at.tugraz.igi.oncilla.*;
client = OncillaClient();
client.connect('192.168.0.100',6789);
client.init;
pause(1);
tmp = client.getPosDeg();
client.setPosDeg(tmp);
%[30.0 0.5 30.0 0.5 30.0 0.5 30.0 0.5 0.0 0.0 0.0 0.0]);
pause(0.5);
tmp2 = client.getPosDeg();
client.disconnect();

Matlab Java Socket Interface

  • to compile run javac -d . OncillaClient.java
  • to gen. a jar package run jar cf OncillaClientPkg.jar ./at/tugraz/igi/oncilla/OncillaClient.class ./at/tugraz/igi/oncilla/OncillaClient\$Commands.class

Using NetBeans

low-level testing

  • for motor calibration: /home/oncilla/devel/oncilla-motor-calibrator/src (Raw data)
  • config file in devel/OncillaServer/dist/Release/GNU-Linux-x86/

  

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