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
- check https://netbeans.org/kb/docs/cnd/remotedev-tutorial.html and https://netbeans.org/kb/docs/cnd/remote-modes.html
- use full remote via netbeans (unfortunately no subversion support in netbeans)
- start NetBeans with argument -J-Djsch.connection.timeout=30000 whenever connection to host is required
- use -J-Dcnd.remote.logger.level=0 -J-Dnativeexecution.support.logger.level=0 -J-Dremote.support.logger.level=0 in case you need extensive log files
- in case Oncilla has a new IP address, replace it in the configurations.xml files of the netbeans project on the Oncilla itself
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/