Khepera III Stargazer User manual - K
Contents
1. Log on the KoreBotll via ssh Bluetooth or serial port You have different ways to update the library 12 Autonomously with the package e Upload the package file libkorebot 1 19 r0_armvSte ipk by ssh Bluetooth or Serial to the Korebot II e Remove the old one with the command ipkg remove libkorebot e Install the new one with the command ipkg install libkorebot 1 19 r0_armvSte ipk KSG User Manual rev 1 0 4 Usage By hand Remove the old libkorebot rm usr lib libkorebot Copy or send the libkorebot so 1 19 file locate in the build korebot 2 6 lib directory of the libkorebot source files to the directory usr lib Link the libkorebot file as libkorebot so In s usr lib libkorebot so 1 19 usr lib libkorebot so KSG User Manual rev 1 1 13 4 Usage 4 4 2 Using the KSG with kgazer_test software The kgazer_test is a test and example program given also in source code in directory src tests of the Libkorebot library After copying this program to the Korebot II and launching it with the command J kgazer_test it will initialize the Stargazer display the version of its internal software ask if you would like to change its parameters number type and reference of landmark Then it will rotate to do a calibration due to the fact that the ceiling may not exactly parallel to the KSG module Then it displays an ASCII interface figure 4 5 You can move the robot with the keyboard arrows keys The robot i2. 7 data error 8 no received data 9 mapid error 1 update parameters after map building mode gt MAPID in map building mode Parameter x x position relative to the reference landmark in cm right direction y y position relative to the reference landmark in cm forward direction z height to the landmark in cm angle angle relative to the reference landmark orientation in degree counterclockwise in 0 360 range idnum id number of the currently used landmark cmode current mode F map building mode T map mode Z height calculation mode corr 1 apply position correction 0 do not apply it int kb_gazer_calibration knet_dev_t mot1 knet_dev_t mot2 double center_x0 double _center_y0 double _angle_rot double _a_axis double b_axis double _stddev_x double _stddev_y Configure the Stargazer rotation compensation by moving the robot around itself then fitting the result ellipse Return 0 no error timeout while computing calibration 2 data buffer too short 3 error computing ellipse parameters 4 error data are too scattered lt 4 return kb_stargazer_read_data error getting Stargazer data Parameter mode height fix mode index motl left motor pointer mot2 right motor pointer angle_rot angle of rotation of the fitted ellipse a_axis half major axis of the fitted ellipse b_axis half minor axis of the fitted ellipse stddev_x standard deviation error of x
3. The Stargazer module has IR Led s for lighting landmarks and a camera for capturing the image which is processed by onboard electronics It computes position and bearing related to landmarks stuck on the ceiling The K3LFSG battery module is composed of a battery and electronics for managing its charge and connections to the robot The module is ON at startup and OFF when the Khepera II Korebot II is OFF 3 3 KSG Software The position and bearing are computed internally in the Stargazer and they are communicated through the serial port dev ttyS2 to the robot using several commands For the ease in use functions were developed and included in the Libkorebot library A test program named kgazer_test is also provided It initializes the module and displays the position in an ASCII x y graph The robot can be controller with the keyboard arrows The parameters of the KSG are saved into the KSG and remain even after power OFF ON The exception is the calibration parameter 6 KSG User Manual rev 1 0 4 Usage 4 Usage 4 1 Required hardware software The required hardware and software to use the board and develop programs are described below 4 1 1 Required hardware e Computer with Bluetooth or Wifi access e KSG module e Khepera3 with Korebot II plugged 4 1 2 Required software e Korebot 2 light toolchain installed see Korebot 2 User Manual http ftp k team com K orebotII software common libkorebot KSG U
4. _stddev_y standard deviation error of y KSG User Manual rev 1 1 21 4 Usage 4 4 4 Software example A small example of software controlling the KSG is enclosed below You can find its source code file in libkorebot VERSION src tests kgazer_small_ex c This sample example does not use calibration of the sensor due to parallelism error of the ceiling and sensor plan This results in x y error when the robot rotates See libkorebot VERSION src tests kgazer_test c for a full example with calibration include lt korebot korebot h gt int main int argc char argv char version 128 int ret 0 c 0 i idnum float angle x y z xc yc stargazer returned variables and corrected position char cmode current mode of the Stargazer reset the screen kb_clrscr printf nKhepera II Stargazer small example program n Set the libkorebot debug level Highly recommended for development kb_set_debug_level 2 initialise the libkorebot if ret kb_init argc argv lt 0 return 1 printf nInitialising Stargazer module please wait n initialise the Stargazer module if ret kb_stargazer_Init 0 printf nError initialising the Stargazer error d n ret kb_stargazer_Close return 2 get Stargazer firmware version kb_gazer_get_version version printf nStargazer version is s n version read parameters values printf nRead current Stargazer parameter
5. x 80 depth x 56 height mm e Mass 117g e Compatibility Khepera III extensions KB 250 specifications ceiling height can be from 1 1 to 6 0 m but with different landmarks range may vary 2 with a homogenously flat floor may increase with an extension Khepera3 Gripper 3 with cables 4 without lower ERNI connectors as plugged KSG User Manual rev 1 1 2 UNPACKING AND INSPECTION 2 UNPACKING AND INSPECTION 2 1 Package Contents Figure 2 1 Contents of the KSG Pack Your package should contain the following items 1 KSG board 2 DVD with software and this User Manual bisestile 2 2 Inspection First check that you have a complete package You should find e the KSG module e CD with o This user manual o The Libkorebot library software Then check that the wires connecting the Stargazer to the battery module are connected and not in bad shape 4 KSG User Manual rev 1 0 3 Description 3 Description 3 1 Overview An overview of the KSG hardware is depicted in the Figure 3 1 The locations of various key elements are indicated for later references axe of rotation of the robot BACK battery module Pr gt connector to robot Figure 3 1 KSG overview KSG User Manual rev 1 1 5 3 Description 3 2 KSG Hardware The KSG module is composed of a Stargazer position module from Hagisonic co LTD and the K3LFSG battery module There are also landmarks to put on the ceiling
6. GES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PROVIDED PURSUANT HERETO WHETHER DUE TO A BREACH OF CONTRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEITHER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR INDIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN KSG User Manual rev 1 0 TEAM C K Team S A Z I PLANS Prae 133 VvVatlorBe SWJIT2Zer anD
7. KHePera Ill starGace user Manual TEAM version 1 1 JaNvaryw 2013 Documentation Author Julien Tharin K Team S A Z I Plans Praz 1337 Vallorbe Switzerland i Url www k team com Documentation version Version Date Author Description 1 0 08 05 2012 J Tharin First draft 1 1 31 01 2013 J Tharin LRF battery card ON update Trademark Acknowledgements IBM PC International Business Machines Corp Macintosh Apple Corp SUN Sparc Station SUN Microsystems Corp LabVIEW National Instruments Corp Matlab MathWorks Corp Webots Cyberbotics Ltd Logitech Logitech Int SA Gumstix Gumstix Inc Khepera K Team SA Stargazer Hagisonic co Ltd LEGAL NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS 1 1 INTRODUCTION INTRODUCTION Thank you for buying the Khepera III Stargazer abbreviated KSG in this document With this module you will be able to have global position and bearing of your Khepera3 robot 1 1 How to use this handbook Unpacking and Inspection KSG package description and first use e Description KSG description li Usage KSG usage descriptions Wa
8. dex of the fixed height define HEIGHT_FIX_YES 1 ANGLE_CORRECTION Angle correction for calibration define ANGLE_CORRECTION 137 0 CALIB_STDEV_MAX Maximum standard deviation before calibration error cm define CALIB_STDEV_MAX 3 0 KSG User Manual rev 1 0 4 Usage 4 4 3 2 Variables External variables for transferring data that are declared in the header file and defined in the library are described below kb_gazer_landmark_types Array of array of char containing landmark types defined like this const char kb_gazer_landmark_types HLDIS HLDIL HLD2S HLD2L HLD3S HLD3L kb_gazer_landmark_modes Array of array of char containing landmark modes defined like this const char kb_gazer_landmark_modes Alone Map kb_gazer_height_fix_modes Array of array of char containing height modes defined like this const char kb_gazer_height_fix_modes No Yes 4 4 3 3 High level functions of the libkorebot There below you will find details about declared functions for the KSG extensions in the Libkorebot libraries The green words indicate the type of the function or parameter and must not be included in your code The blue words are the parameters You must declare it in your code before calling the function Only the black words can be directly added to your code int kb_stargazer_Init char DeviceName Initialize the library to use the different KSG functions and stop the module sendi
9. dware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized module service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself KSG User Manual rev 1 1 25 26 5 WARRANTY K TEAM EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINBEFORE EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PERMITTED BY LAW Limitation of Liability INNO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMA
10. file to compile your new software add your new program filename in line 35 at the variable TARGETS of the file in the src test Makefile or start with the template program in the template directory As for all the KoreBotII extensions you need to initialize the library before using the functions described below The Libkorebot provides high level functions which include all the available capabilities of the KSG Look at the following sections to view the different exported constants variables and functions provided by the Libkorebot for that KSG extension 4 4 3 1 Constants Constants defined in the header file are described below NB_MARK_TYPES Number of types of different landmarks define NB_MARK_TYPES 6 HLDIS Index of landmark type HLDIS define HLDIS 0 HLDIL Index of landmark type HLDIL define HLDIL 1 HLD2S Index of landmark type HLD2S define HLD2S 2 HLD2L Index of landmark type HLD2L define HLD2L 3 KSG User Manual rev 1 1 15 16 4 Usage HLD3S Index of landmark type HLD3S define HLD3S 4 HLD3L Index of landmark type HLD3L define HLD3L 5 NB_MARK MODES Number of landmark modes define NB_MARK_MODES 2 MARK ALONE Alone landmark mode index define MARK_ALONE 0 MARK_MAP Map landmark mode index define MARK_MAP I NB_HEIGHT_FIX_MODES Number of landmark height modes define NB_HEIGHT_FIX_MODES 2 HEIGHT_FIX_NO Index of the non fix height define HEIGHT_FIX_NO 0 HEIGHT_FIX_YES In
11. he respective specifications of the product for the minimal legal duration respectively one year from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the e the type of KSG used version e the kernel version of the KSG e the programming environment of the KSG robot standard version OS e the standard use of Product before the appearance of the problem e the description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and KSG serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original watranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product KSG User Manual rev 1 0 5 WARRANTY This limited warranty covers only the hardware and software c
12. landmark type index Return 0 no error serial port not open 2 command not acknowledged 3 type not valid Parameter type landmark type index KSG User Manual rev 1 0 4 Usage int kb_gazer_get_landmark_type int type Get the landmark type index Return 0 no error serial port not open 2 command not acknowledged 3 unknown landmark type Parameter type landmark type index int kb_gazer_set_landmark_mode int mode Set the landmark mode index Return 0 no error serial port not open 2 command not acknowledged 3 mode not valid Parameter mode landmark mode index int kb_gazer_get_landmark_mode int mode Set the landmark mode index Return 0 no error serial port not open 2 command not acknowledged 3 unknown landmark mode Parameter mode landmark mode index int kb_gazer_set_height_fix_mode int mode Set the height fix mode index Return 0 no error serial port not open 2 command not acknowledged 3 mode not valid Parameter mode height fix mode index int kb_gazer_get_height_fix_mode int mode Get the height fix mode index Return 0 no error serial port not open 2 command not acknowledged 3 unknown height fix mode Parameter mode height fix mode index KSG User Manual rev 1 1 19 20 4 Usage int kb_gazer_start_map_mode void Start the map building mode Return 0 no error serial
13. les to the Korebot II and install then with the synthax ipkg install FILENAME ipk http ftp k team com KorebotII software common minicom_2 1 r0_armv5te ipki 10 KSG User Manual rev 1 0 4 Usage launch minicom with the command minicom o set its parameters with the sub menu Serial port setup of the menu configuration Figure 4 4 keys Ctrl a 0 as described in Figure 4 3 A Serial Device dev ttyS2 B Lockfile Location var lock C Callin Program D Callout Program E Bps Par Bits 115200 8N1 F Hardware Flow Control No G Software Flow Control No Change which setting Figure 4 3 Minicom serial parameters Save the settings with the sub menu Save setup as dfl Figure 4 4 configuration 4 J Filenames and paths File transfer protocols Serial port setup Modem and dialing Screen and keyboard Save setup as dfl Save setup as Exit Figure 4 4 Minicom configuration menu push CTRL a and e keys to have local echo write the following command to stop receiving position CalcStop gt return should be CalcStop Multiple stops may be needed The command CaleStart starts again the position computation write the following command to get Stargazer firmware version Version gt return should be Version Version 2 1101 18 See Stargazer User s Guide for more information on cha
14. ng position This function must be called at the beginning of each program using the KSG Return 0 no error error initialising gpio 2 cannot open serial port 3 cannot communicate with the Stargazer Parameter DeviceName name of the device where the KSG is connected Should be dev ttyS2 KSG User Manual rev 1 1 17 18 4 Usage int kb_gazer_get_version char version Get Stargazer firmware version Return 0 no error serial port not open 2 command not acknowledged 3 command not acknowledged Parameter version firmware version int kb_gazer_set_landmark_number int number Set the numbers of landmarks to be used Return 0 no error serial port not open 2 command not acknowledged Parameter number numbers of landmarks int kb_gazer_get_landmark_number int number Get the numbers of landmarks to be used Return 0 no error serial port not open 2 command not acknowledged Parameter number numbers of landmarks int kb_gazer_set_ref_if int refid Set the landmark id as reference Return 0 no error serial port not open 2 command not acknowledged Parameter refid reference id int kb_gazer_get_ref_if int refid Get the landmark id as reference Return 0 no error serial port not open 2 command not acknowledged Parameter refid reference id int kb_gazer_set_landmark_type int type Set the
15. omponents contained in the Product It does not cover technical assistance for hardware or software usage and it does not cover any software products contained in the Product K TEAM excludes all watranties expressed or implied in respect of any additional software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PURCHASED SUBJECT TO AVAILABILITY OF SOFTWARE Be sure to remove all third parties har
16. port not open 2 could not stop receiving position 3 command not acknowledged Parameter int kb_gazer_set_end_command void Set end of commands for update Return 0 no error serial port not open 2 command not acknowledged 3 data not upated Parameter int kb_gazer_start_computation void Start computation of position Return 0 no error serial port not open 2 command not acknowledged Parameter int kb_gazer_wait_stop_computation void Stop computation of position and wait until it stops retry MAX_STOP Return 0 no error serial port not open 2 command not acknowledged Parameter int kb_gazer_stop_computation void Send the computation stop of position Return 0 no error serial port not open 2 command not acknowledged Parameter void kb_stargazer_Close void Release the Stargazer Return Parameter KSG User Manual rev 1 0 4 Usage int kb_stargazer_read_data double x double y double z double angle int idnum char cmode int corr Read and interpret data from the Stargazer Should be called periodically up to 10 times s kb_gazer_start_computation must be called once before Return 0 no error cannot serial port not open 2 cannot communicate with the Stargazer 3 buffer overrun try to call more often this function 4 read command not acknowledged 5 data error 6 no landmark found
17. pter 6 for commands and on chapter 7 for landmarks http ftp k team com KheperalIII KSG StarGazer_Guide_02 0904 16 English pdfi KSG User Manual rev 1 1 11 4 Usage 4 4 Programming the KSG The KSG is an extension that can be used only with the KoreBotII mounted in the Kheperalll That means that the KoreBotlI controls all the functions of the KSG As all the KoreBotII extensions a library including all the available functions is provided with the Libkorebot version 1 19 or greater If you already have a Libkorebot installed in your computer but with an older version you can download the latest version with the following You can check if the last version is installed Log on the KoreBotlI via ssh Bluetooth or serial port You can check if you have the 1 19 version in listing the present files Is s usr lib libkorebot gt This should give this where the number after so is the current version 0 usr lib libkorebot so 315 usr lib libkorebot so 1 19 4 4 1 Installation of the latest libkorebot and configuration file To use the KSG with the Kheperalll and KoreBotll it s necessary to install the libkorebot version 1 19 or greater on the KoreBotll Normally if you have received the KoreBotII at the same time than the KSG the KoreBotII is ready to be used with the KSG in this case you can jump to section 4 4 2 Otherwise if you have bought the KSG separately you will need to execute the step described below
18. rranty Legal notice of the KSG warranty KSG User Manual rev 1 1 1 1 INTRODUCTION 1 2 Safety precautions Here are some recommendations on how to correctly use the KSG e Keep the board away from wet area Contact with water could cause malfunction and or breakdown e Store your board in a stable position This will avoid the risks of falling which could break it or cause damage to a person e Do not plug any connectors while the board is powered on To avoid any damage make all connections when the board power is off e Never leave the KSG powered when it is unused When you have finished working with KSG turn it off It will save the battery life 1 3 Recycling Think about the end of life of your product Parts of the board can be recycled and it is important to do so By recycling you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your product at the end of its life cycle for instance sending back the product to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment KSG User Manual rev 1 0 1 INTRODUCTION 1 4 Specifications The main specifications of the KSG card are listed below e Range max 2 5 3 m of diameter with 1 landmarks for ceiling height of 2 4 m e Accuracy 3 5 cm 3 degrees e Measurement time 10 times sec e Autonomy 2h30 Li Pol battery e Size 85 width
19. s n kb_gazer_get_landmark_number amp c printf landmark number d n c kb_gazer_get_ref_id amp c printf reference id d n c kb_gazer_get_landmark_type amp c printf landmark type s n kb_gazer_landmark_types c kb_gazer_get_landmark_mode amp c printf landmark mode s n kb_gazer_landmark_modes c kb_gazer_get_height_fix_mode amp c printf height fix mode s n kb_gazer_height_fix_modes c kb_gazer_start_computation start computation of position continue on next page 22 KSG User Manual rev 1 0 4 Usage for i 0 i lt 10 i read 10 data read sensor values ret kb_stargazer_read_data amp x amp y amp z amp angle amp idnum amp cmode 0 switch ret case 0 printf data d cm deg x 6 1f y 6 1f angle 6 1f height 6 1f idnum 4d mode c n i x y angle z idnum cmode break case 3 fprintf stderr nERROR read error buffer too short leaving n break case 6 printf The sensor does not see any landmark n break case 8 fprintf stderr nERROR no data received n break default fprintf stderr nERROR read error number d n ret usleep 100000 wait for next data kb_stargazer_Close return 0 KSG User Manual rev 1 1 23 5 24 5 WARRANTY WARRANTY K TEAM warrants that the KSG is free from defects in materials and workmanship and in conformity with t
20. s represented by the character A lt gt or V depending of its orientation Other keys are defined below zoom in out Page Up Down speed up down the robot redo position calibration g goto xy choose goal then go to goal using a very basic algorithm m if several landmarks start map building k use don t use correction from calibration p change stargazer parameters S start stop saving data to file data_corr csv t display undisplay old robot position q exit program cm deg x 2 6 y 4 4 angle 18 2 height 200 4 idnum 560 zoom 5 0x speed mm s 23 4 5120 mode KEYS q quit arrows move zoom PG UP DOWN speed s save OFF k apply corr OFF t trace m build map OFF p param c calib g goto OFF scale x 20cm gt Figure 4 5 kgazer_test ASCII interface 14 KSG User Manual rev 1 0 4 Usage 4 4 3 Compiling your own program using the libkorebot To make your own software to control the KSG you need to install the development tools for the KoreBotII on your computer with Linux OS If it is not already done please look at the KoreBotII User Manual to know how to install it Once done you can start writing your program The best solution is to copy the kgazer_small_ex c source code see chapter 4 4 4 and modify it The source code kgazer_test c is a more complete example In any case keep your program in the src tests directory and modify the Make
21. ser Manual rev 1 1 7 4 Usage 4 2 Assembly 4 2 1 KSG on the robot already in the robot and its upper part plugged on top see Khepera 3 User Manual chapter 3 1 7 e Insert the KSG module on top of the Korebot 2 upper board e Pay attention to the orientation of the module front back e The assembly and disassembly must be done while the robot is switched OFF also the robot and KSG must not be charging Korebot 2 upper board Figure 4 1 Basic assembly 8 KSG User Manual rev 1 0 4 Usage 4 2 2 Landmarks setting The landmarks should be placed at maximum of x m interval on the ceiling for the height of about h m in order that any dead zone may not occur figure 4 2 b with a relation of Equation 4 1 x 0 8 h Example h 2 5 m gt x max 2m a with dead zone b without dead zone Figure 4 2 The placement of landmarks You don t need to install all the 4 landmarks if your area is smaller And they don t need to be placed in square shape because during the map building process the relative position of the landmarks are computed The default landmarks delivered with the KSG are of type HLDIS They can be used with a height range of 1 1 2 9 m See chapter 3 A and appendix C of Stargazer User s Guide for more information about the landmark KSG User Manual rev 1 1 9 4 Usage 4 3 Power up and test The KSG module is switched ON when the Khepera 3 robot is swi
22. tched ON It starts autonomously sending position through the serial port if it sees a landmark 4 3 1 Test You can also launch the kgazer_test program see chapter 4 4 2 or test with the instructions below after the robot is switched ON you should see some red LED ON inside the Stargazer from its top window change ssh escape character on your PC If it is it will conflict only with the Stargazer command for the test below not for the normal use of that manual for Linux run sudo sh c echo EscapeChar gt gt etc ssh ssh_config open a ssh connections terminal to the robot see Korebot II User Manual chapter 5 2 6 run the following command to set the serial port the terminal stty F dev ttyS2 115200 parenb cs8 clocal crtscts cat dev ttyS2 gt it should display lines like without interruption if the robot is under landmarks on the first one 15601 79 051 10 941 106 121190 00 15601 79 051 10 931 106 11 190 00 15601 78 391 10 971 106 151189 16 I5601 79 051 10 941 106 151190 00 15601 79 051 10 941 106 131190 00 15601 79 051 10 931 106 121190 00 15601 79 051 10 931 106 111189 82 The data are respectively landmark id 560 angle 79 deg x position 10cm y position 106cm height to landmark 190cm To stop push keys CTRL and c together at the first terminal To test sending commands you must install minicom on your Korebot II copy these following fi
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