Lecture 1 Tekkotsu Basics

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Lecture 1 Tekkotsu Basics

• Robotics Seminar CSI445/660
• Spring 2005
• Robert Salkin Shawn Turner
• University at Albany, SUNY

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Tekkotsu Project

• This is your development workspace.
• Needs to be copied locally for each developer or
  group.
• cp R /usr/local/Tekkotsu/project /
• All development source should be contained here
• Allows customization of certain settings
• /project/ms/config contains
• .tm (threshold map) and .col (color) files for
  color segmentation
• tekkotsu.cfg project configuration file that
  allows the setting of lighting conditions,
  segmentation files, camera settings, and various
  monitoring ports to be used when your project is
  compiled and run.
• Take a look at the series of StartupBehavior_Setup
  .
• Starting from StartupBehavior.cc , this is the
  boot sequence for the framework
• These are a bunch of special behaviors that run
  on startup to handle things like initializing the
  vision, menus, file control, etc.

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Tekkotsu Project

• http//www-2.cs.cmu.edu/tekkotsu/CPPReview.html
• Any behaviors written need to get added to your
  Project.
• StartupBehavior_SetupModeSwitch.cc
• Add Mutually Exclusive Behaviors here
• When might behaviors not be exclusive to each
  other?
• SetupModeSwitch has a listing of lines of the
  following type
• addItem(new BehaviorSwitchControlltTestBehaviorgt(T
  estBehavior",bg,false))
• These add a given behavior to the project
• BehaviorSwitchControl is a C class template
  which takes type BehaviorBase (or a subclass
  thereof)
• Specifically, AddReference, RemoveReference,
  DoStart, DoStop, etc. are required to be
  compatible in this template.
• The three arguments to the constructor represent
  
• A stdstring representing the initial name
  displayed for this behavior in the GUI upon
  startup
• A reference to a behavior group.
• A boolean on whether to retain the behavior
  image in memory once DoStop is called
• This should all be clearer after a careful demo
  walkthrough
• http//www-2.cs.cmu.edu/dst/Tekkotsu/Tutorial/beh
  aviors.shtml

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TekkotsuMon

• This is the user interface into run-time Tekkotsu
• Written In java
• Usage
• cd /usr/local/Tekkotsu/tools/mon (??)
• ./ControllerGUI EtherIP
• Gives access to
• Our exclusive behaviors
• ChaseBall
• Background Behaviors
• AutoGetup, etc.
• Raw Segmented Camera Feeds
• File Access
• Sound files
• Motion Posture Sequences
• Walk Parameters
• Sensor and Event Monitoring Logging
• It doesnt give us stdout or stderr.
• telnet EtherIP 59000
• Examine SetupModeSwitch Demo TekktosuMon

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Makefile

• Now that weve seen the full dev process in
  action, lets examine the Makefile to see how
  everything gets put together
• Compiled code needs to be loaded onto a Sony
  MemoryStick (??)
• Always mount /mnt/memstick (or /cygdrive/memstickd
  riveletter)
• Be sure you have your memstick path correct!
• Environment.conf
• Make options
• make newstick
• Initializes stick for use (use the 1st time using
  a new memory stick)
• Make sure /open-r/system/conf/ have write
  permissions enabled
• Make sure /open-r/mw/conf/ have write
  permissions enabled
• make install
• Compile link with full upload to memstick
• make update
• Compile link. Uses rsync to determine what to
  upload to memstick
• make
• Compile Link
• Never ever, Ever, EVER format the memory
  sticks!!!
• Pink AIBO Programming Memory Sticks wont work
  after a format!!!
• Windows Quick Format is ok, but NO low-level
  formats!!!

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wireless configuration

• the wlandflt.txt file is responsible for setting
  up the network connection between the server and
  aibo.
• move to /project/ms/open-r/system/conf
• lets look at wlandflt.txt

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Extra Resources

• Hello World http//www-2.cs.cmu.edu/tekkotsu/Fir
  stBehavior.html
• Intro and tutorials http//www.cs.cmu.edu/tekkots
  u/development.html
• More documentation http//www.cs.cmu.edu/tekkots
  u/development.html
• (look at the (pdf) tags half way down the page)
• Reference http//www.cs.cmu.edu/tekkotsu/dox/ind
  ex.html
• Behavior Boilerplate found at TEKKOTSUROOT/
  docs/behavior_header.h
• Make a copy and override the default naming with
  our new name
• Course Wiki (UNDER CONSTRUCTION)
• http//pages.cpsc.ucalgary.ca/jyoung/