Edison Quickstart Guide

Please read through the Hardware Overview before attempting this QuickStart Guide.

Power On & Login

1. Position Robot into neutral sitting position, shown here (picture). Ensure main power switch is in off position.
2. Plug in UART USB Port on back of Edison Mini Breakout.
3. In terminal: $ screen /dev/ttyUSB0 115200
4. Turn robot on.
5. Login- Username: root no password
6. configure_edison --setup
7. Connect to wifi, set password and hostname of Edison.

Framework Repository Setup

The custom Edison build we use has all dependencies for the Framework pre-installed.

First we must and clone a fresh copy of the repo onto the root filesystem. We use Git to handle our repositories. Click here for more information on using Git.

1. Clone HROS1-Framework Github Repo

• We install the Framework in the home folder.

$ git clone https://github.com/Interbotix/HROS1-Framework.git

• Change directory to HROS1-Framework: $ cd HROS1-Framework

Build Framework Libraries & Projects

1. Compiling Framework Libraries

• The Makefile for the core library is found here:

/HROS1-Framework/Linux/build

• Change directory in Terminal to build folder: $ cd ~/HROS1-Framework/Linux/build
• Compile core framework libraries: $ make all
• Ensure that no errors exit the compile process, and that the darwin.a library object has been created: $ ls ~/HROS1-Framework/Linux/lib

2. Compiling dxl_monitor & Network Scan

The dxl_monitor project is a diagnostic tool that allows us to scan the Subcontroller's Dynamixel TTL network and returns the results of the servo IDs found. It can also be used to modify servo properties stored in the register table.

• The Makefile for dxl_monitor is found here:

~/HROS1-Framework/Linux/project/dxl_monitor/

• Change directory in Terminal to project folder: $ cd ~/HROS1-Framework/Linux/project/dxl_monitor
• Compile dxl_monitor: $ make
• Ensure that no errors exit the compile process, and that the dxl_monitor program has been created inside the folder.
• To run dxl_monitor: $ ./dxl_monitor
• Perform a Dynamixel network scan: > scan
• This should return the 'OK' status of Servo IDs 1-20, and the Subcontroller ID of 200. If any of these show up as failed, please see Troubleshooting for assistance.
• If you encounter an 'Failed to connect to CM730' error, please see Troubleshooting.

If all 20 servos show up on network scan as 'OK', your robot is properly recognizing all servos and should be ready for motion page playback testing. Type exit to exit program and return to Terminal prompt.

2. Compiling rme & Testing Action playback

The project rme is an application that allows for the capture and playback of servo animations. Standing, Sitting, Walk Ready, Gestures & Animations are created within this program, and then the motion pages can be played back by calling the Action module functions within the Framework.

• The Makefile for rme is found here:

~/HROS1-Framework/Linux/project/rme/

• Change directory in Terminal to project folder: $ cd ~/HROS1-Framework/Linux/project/rme
• Compile rme: $ make
• Ensure that no errors exit the compile process, and that the rme program has been created inside the folder.
• To run rme: $ ./rme
• A terminal screen with a table of data will be drawn. The left-most columns show the servo IDs, and the STEP0