Garcia Robots, An Introduction

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Garcia Robots, An Introduction
CS 23
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Hardware Architecture
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HW Architecture

• The Stargate Board
• The Brainstem Board
• On-board sensors
• On-board motors.
• The Wireless Sensor
• The Webcam

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HW Architecture

• Stargate
• A Intel-PXA255 ARM embedded development board.
• On board flash disk and memory.
• Two serial ports, one USB port, an Ethernet port
  , a wifi 802.11b card, and JTAG support.

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Stargate Cont.....

• Two serial port
• Red RS232 is used as the default text terminal.
• Another one is used to connect to Brainstem.

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Stargate Cont...

• USB is connected by a USB-hub, which is connected
  by a web cam and a wireless sensor (tMote)?

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Brainstem (by Acroname)?

• A special circuit board to receive commands from
  the serial port and execute them.
• Motors and range sensors are connected to
  Brainstem.

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HW Architecture Overall
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Embedded Linux
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Stargate Embedded Linux

• A 2.6.24 patched linux kernel.
• Full support for many devices (webcam, sensors)?
• JSFF2 file-system, accessing files on Flash chips
  as on hard drives.

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Demo 1 Log on to Stargate

• Connect robots to the computer with a RS232
  cable.
• Type minicom in the computer
• Start the robot!
• User root
• Password rootme

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Demo 2 Ad-hoc to the robot

• Each robot is configured to Ad-hoc mode when it
  powers up.
• Using Ad-hoc wireless to connect to the robot
• Each robot has a SSID xxx-Garcia, configure
  your laptop to ad-hoc to the SSID.
• Set your laptops IP to 129.168.3.n (100
• Ssh to the robot with its IP on the label

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Demo 3 Using Dartmouth Wireless

• Run the script /changewifi2manage.sh on the
  robot side.
• Your robot will be using Dartmouth Wireless
  Network now.
• If you previously connected through Ad-hoc, your
  connection will lost.
• The IP of your robot will be randomly assigned by
  Dartmouth Network Service.

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Demo 4 Hello WorldCross-Compiling

• Write a helloworld.c
• Compile it with cross-compiler at
• darwin/usr/local/arm/3.3.2/bin/arm-linux-gcc
  -o helloworld helloworld.c
• Now try type
• darwinfile helloworld
• helloworld ELF 32-bit LSB executable, ARM,
  version 1, dynamically linked (uses shared libs),
  for GNU/Linux 2.0.0, not stripped

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Demo 4Copying helloworld to Stargate and run

• We need scp (copy via ssh).
• darwinscp ./helloworld root_at_the stargate
  ip /root/