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Thread: Moving more to the Raspberry Pi

  1. #1
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    Moving more to the Raspberry Pi

    Hi,

    I'm currently running my Hexapod with a modified version of the Phoenix code on an Arbotix-M being fed commands via the serial port from a Raspberry Pi 2.

    As part of the next phase of the project I'm trying to simplify the hardware and remove the Arbotix-M and run the Phoenix code on the RPi2 with a USB2AX.

    Once again KurtEck has done the hard work and kindly made available the RPi2 Phoenix code. When trying to install it however I keep hitting the errors below when executing "make". I've now run out of ideas on how to resolve, so any assistance would be much appreciated.

    -----------------------------------------------------

    [email protected] ~/git/Raspberry_Pi/Phantom_Phoenix $ make
    cd ../library; make
    make[1]: Entering directory '/home/hexy/git/Raspberry_Pi/library'


    -------- begin --------


    cc (Debian 4.6.3-14+rpi1) 4.6.3
    Copyright (C) 2011 Free Software Foundation, Inc.
    This is free software; see the source for copying conditions. There is NO
    warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


    -------- end --------


    make[1]: Leaving directory '/home/hexy/git/Raspberry_Pi/library'
    cd ../BioloidEX_Usb2Ax; make
    make[1]: Entering directory '/home/hexy/git/Raspberry_Pi/BioloidEX_Usb2Ax'


    -------- begin --------


    cc (Debian 4.6.3-14+rpi1) 4.6.3
    Copyright (C) 2011 Free Software Foundation, Inc.
    This is free software; see the source for copying conditions. There is NO
    warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


    -------- end --------


    make[1]: Leaving directory '/home/hexy/git/Raspberry_Pi/BioloidEX_Usb2Ax'
    make -f makefile_PhantomX
    make[1]: Entering directory '/home/hexy/git/Raspberry_Pi/Phantom_Phoenix'


    -------- begin --------
    cc (Debian 4.6.3-14+rpi1) 4.6.3
    Copyright (C) 2011 Free Software Foundation, Inc.
    This is free software; see the source for copying conditions. There is NO
    warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


    arm-linux-gnueabihf-g++ -Wall -pedantic -g -O2 -fno-rtti -Wno-write-strings -I. -I../library -I/usr/include/espeak -I../BioloidEX_Usb2Ax Phantom_Phoenix.o Phoenix_Code.o Phoenix_Driver_AX12.o Phoenix_Input_Commander.o -o Phantom_Phoenix -L/usr/lib/arm-linux-gnueabihf -L../library -L../BioloidEX_Usb2Ax -L../library -lpthread -lespeak -lBioloidEX -lArduinoPort -lpthread
    /usr/bin/ld: ../library/libArduinoPort.a(Wiring.o): undefined reference to symbol '[email protected]@GLIBC_2.4'
    //lib/arm-linux-gnueabihf/librt.so.1: error adding symbols: DSO missing from command line
    collect2: ld returned 1 exit status
    makefile_PhantomX:73: recipe for target 'Phantom_Phoenix' failed
    make[1]: *** [Phantom_Phoenix] Error 1
    make[1]: Leaving directory '/home/hexy/git/Raspberry_Pi/Phantom_Phoenix'
    makefile:20: recipe for target 'Phantom_Phoenix' failed
    make: *** [Phantom_Phoenix] Error 2

  2. #2

    Re: Moving more to the Raspberry Pi

    Hi, sorry I was away for a couple of days, but am back now

    I will take a look. It has been awhile since I build for RPI, but will try to fix ASAP...

    A week or so ago, I ran into some similar issue and needed to change around the order in which I included libraries.
    I think I fixed that one by, simply adding another -lpthread at the end, but this looks like it already has it...

    Kurt

    Update: You are currently building the PhantomX directory, which for some reason is not linking. This directory should be functionally equivalent to building the directory: phoenix_fixed/PhantomX, which currently does link properly on my RPI2. I will compare the two directories again, especially make files to see what the differences are...
    Last edited by KurtEck; 08-11-2015 at 09:28 AM.

  3. #3

    Re: Moving more to the Raspberry Pi

    I uploaded an updated makefile that hopefully should work. At least it links now on my RPI2 on the HROS1...

    The main differences was adding in -lrt

  4. #4
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    Re: Moving more to the Raspberry Pi

    Thanks Kurt,

    I'll give it a try after work tonight.

    Just checking I'm using the right code on the USB2AX - have you been running this firmware on the USB2AX when running this Pi code?: lufa_usb2ax from KurtE/usb2ax?

    Andrew

    Update: Makefile now works great thank you. Only problem is that it's not recognising the servos as below. I've run out of time tonight but will try and debug tomorrow.



    [email protected] ~ $ ./Raspberry_Pi/Phantom_Phoenix/Phantom_Phoenix
    device open error: /dev/ttyACM0
    0 0 0
    Program Start
    Servo(0): 8 not foundServo(1): 14 not foundServo(2): 2 not foundServo(3): 7 not foundServo(4): 13 not foundServo(5): 19 not foundServo(6): 10 not foundServo(7): 16 not foundServo(8): 4 not foundServo(9): 9 not foundServo(10): 15 not foundServo(11): 3 not foundServo(12): 12 not foundServo(13): 18 not foundServo(14): 6 not foundServo(15): 11 not foundServo(16): 17 not foundServo(17): 5 not foundServo(18): 20 not foundServo(19): 21 not foundERROR: Servo driver init: 20 servos missing
    Open Failed
    Voltage: 65535
    Voltage went low, turn off robot 65535
    Arduino Phoenix Monitor
    Last edited by CreedyNZ; 08-12-2015 at 04:43 AM.

  5. #5

    Re: Moving more to the Raspberry Pi

    Hi Andrew,

    I almost missed your update.

    At some point soon, I need to take a pass through my rpi project and clean some stuff out and also probably back track a little bit.

    In particular: I have two versions of the BioloidEx library as part of the project. One of them assumes that you are running with an UsB2AX that has updated firmware that has the interpolation code moved in to it. The other is setup to use the generic USB2AX and does not require updates.

    Earlier on I was mainly setup to use the updated firmware version, hoping I could get this type of functionality added to the official USB2AX functionality. But as I don't think this is likely to happen, I have started to back off and setup to use the default firmware.

    My most recent one I played with is in phoenix_fixed directory stuff and in particular in the phoenix_fixed\PhantomX_joy directory where I am now using the straight bioloidex directory where the phantomX is using the bioloidex_usb2ax which is updated firmware).
    Note: I added the interpolation stuff into the straight bioloidex directory that uses a secondary thread to take care of it, so it does not require the sprinking of calling off to the library for the interpolation like the Arbotix code required.

    Note: the PhantomX_joy - code is a version I setup to use to allow me to use the Linux Joystick drivers. In particular I have it setup to handle Sony playstation 3/4 (DS3/DS4) controllers. There are some issues with these controllers and Bluetooth, but have them working on ODroids. i have also started to play with my joystick code on RPI as well, as I am porting it to the HROS1 code base.

    What I have not done yet, is to update the starting phoenix_fixed\PhantomX directory to use the same version of BioloidEx. Should not be hard, just probably need to update makefile to point to different library and maybe some defines... Maybe I should try it out soon. Need to dig out an XBee..

    But as a head start you might look at this phoenix_fixed directory structure and in particular look at the two makefiles I mentioned.

    I will try to get some time in the next day or two to update the files and setup an XBee and use the Commander.

    Kurt

  6. #6
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    Re: Moving more to the Raspberry Pi

    Thanks,

    I had a go at updating the makefile as you suggested and will give that a try when I get home from work later today.

    Andrew

  7. #7

    Re: Moving more to the Raspberry Pi

    Update:

    I updated the Phoenix_fixed\PhantomX plus the Phoenix_fixed\PhantomX_Joy as well as the Phantom_Phoenix branch to now not use the USB2ax code that was updated. I also verified I have the code in place to free up the servo driver.

    I tested this with an Xbee and it does still properly talk to the Commander

    Kurt

  8. #8
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    Re: Moving more to the Raspberry Pi

    Hi,

    The revised files compiled no problem and I can see the servos at start up, so good progress. Now to work on the XBEE commander connections.

    Two traps that caught me out for a few minutes:
    1 - I hadn't set my user up as part of the dialout group needed by the USB2AX, and
    2 - There are two extra servos 20 & 21 in the base code, so needed to comment them out too.

    Andrew

  9. #9
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    Re: Moving more to the Raspberry Pi

    Woo hoo

    Jim Bob is back up and running using the RPi2 and the USB2ax. Thanks for your help in getting to this point Kurt.

    Now it's onto getting the navigation code to work with the new config.

  10. #10

    Re: Moving more to the Raspberry Pi

    Great to hear you are up and running again!

    On your last few things, I should check and make sure I mention dialout group in my readme... (Also should rework that file at some point to be in some logical order).

    As for the Turret (Head) servos, you obviously figured it out, but you simply need to go into the hex definition file and comment out or delete the line that defines: cTurretRotPin

    Will great to see what you get working next!

    Kurt

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