Carlos Daboin Project Advisor - Florida Gulf Coast University
Contents
1. Figure 44 Windows Embedded CE 6 0 Design Wizard Catalog Items View Tap Enhancing the OS Design 8 Select ConMan 86 files components for communication and application deployment from Third Party directory as shown in figure 45 33 Catalog Items View E Filter A lt Search gt FJ E v OSeBoxCamServer BSP Core OS fj Device Drivers H Platform Manager Sj Third Party BSP ConMan_x86 Files Component MJPEG Decompression Filter T USB Camera Driver y Solution Explorer E Catalog Items View i Properties a xX Figure 45 Windows Embedded CE 6 0 Catalog Items View Expand Third Party catalog folder and select Vortex86 Audio from BSP ICOP_Vortex86_60b X86 Device Drivers Audio select Vortex86 Display from BSP ICOP_Vortex86_60b X86 Device Drivers Display to enable eBox 2300 media interfaces as show in figure 46 34 12 13 Catalog Items View FJ Filter A lt Search gt BSP a La Core OS Device Drivers n Platform Manager Third Party E BSP ICOP_Vortex86_60B X86 B Device Drivers Eg Audio Vortex86_Audio Display Vortex86 Display 3 Serial Bootloader sboot ConMan_x86 Files Component aa lt gt Fy Solution Explorer w Catalog Items view 0 6 6 0 Lilt Figure 46 Windows Embedded CE 6 0 Catalog Items View Expand Core OS gt CEBASE folder find and include the following components to the OS Design a Applications End User gt CAB2. Fl Solution Explorer w Catalog Items View Figure 51 OS Design Subprojects 2 Select Add New Subproject then in the wizard window select WCE Application and for Subproject name use WebCam as shown in figure 52 Windows Embedded CE Subproject Wizard Select name locaton and template Select a subproyect template and configure the name and location for your subproyect Available templates Subproject name WCE Applicatic WebCAM WCE Console Application WCE Dynamic Link Library Location WCE Static Library P me z p S WCE TUX Dynamic Link Library CAWINCESRODW OS Designs e BoxO Se BoxDS WebC Figure 52 Subproject Wizard Window 3 Click Finish 40 4 The WebCam subproject is only needed to have a location or directory to place the compiled driver the compiled WebCam application and all registry entries to communicate with Logitech Web Cam The subproject files to place on this project were put together by Dr James O Hamblen computer engineering professor at Georgia Tech 10 Place the driver and test application in WebCam subproject directory that is normally located at C WINCE600 OSDesigns Y our Project Name Y our Project Name WebCam To get the driver and the test application files go to my website http satnet fgcu edu cedaboin WebCam zip and click on the eBox 2300 link then copy all the files is under the WebCam zip file 5 Replace the files created by the IDE in the WebCam subproject directory wit
3. 4 3 In the BSP Board Support Packages select ICOP_Vortex86_60B x86 as shown in figure 40 Windows Embedded CE 6 0 OS Design Wizard Board Support Packages BSPs A BSP contains a set of device drivers that are added to your OS design Available BSPs C Aruba Board ARMW4I Select one or more BSPs for your OS design E CEPC x86 C Device Emulator ARMV4I Vortex 6 BSP for Windows Embedded CE 6 0 C H4Sample OMAP2420 ARMV4I rev B IOOP_WVorten 6 60B 26 C Mainstonelll PXAS TX ARMV4I Note Onk BSPs supported by installed CPUs are displayed in the list Figure 40 Windows Embedded CE 6 0 Design Wizard In the design templates selection step select Industrial Device as shown in figure 41 Windows Embedded CE 6 0 OS Design Wizard Design Templates A design template is a set of predefined catalog items fwoailable design templates Consumer Media Device Choose the design template that is most Custom Device closely aligned with the purpose of your Industrial Device target device ERNE Provides the starting point for an industrial SE aia eee automation device such as a Seep tea gai eo human machine interface HMI panel ora programmable logic controller PLC lt Previous Figure 41 Windows Embedded CE 6 0 Design Wizard 31 5 Design template select Windows Internet Appliance as shown in figure 42 Windows Embedded CE 6 0 OS Design Wizard Design Template Vanants Select a design temp
4. Steel 2 56 x 160 Steel Phillips Head Machine Screw Standard Mut id Fe 0 250 H H Figure 27 Griper Attach Connector Step 15 Attach the short C bracket to the other Multi purpose bracket as shown as shown in figure 28 sim ID Sram OD BE 3mm Lock Washer sim Steel with SECA x Smm Standard Mut Steel Screw ee Multi Purpose Bracket Figure 28 Short C Bracket 19 Step 16 Attach the HS 422 wrist servo to the bracket as shown using the 3mm hardware follow the diagram below Use two 2 x 1 4 tapping screws to secure the bracket to the servo horn Route the shoulder servo wires over the servo as shown in figure 29 2 x 2 x 250 1 4 Steel Uze these holes for mounting Phillips Head Tapping Screw 0 250 m 3mm x Amm zmn Washer zmr Steel Steel Screvy Standard Mut Servo Multi Purpose Bracket Figure 29 Arm Gripper Frame 20 1 2 1 3 Arm s Wrist Assembly This section presents the steps to assemble the robot arm gripper and how to attach it to the robotic arm The steps are the following Step 1 Remove the gripper assembly from the C bracket Remove the Little Grip from the Little Grip Connector Set the C bracket and Little Grip Connector lexan aside they will not be used with the wrist rotate as shown in figure 30 Figure 30 Arm Gripper Step 2 Drop the HS 85BB into the wrist rotate bracket from the top as shown Use the following diagram for attachment information
5. 8 2 4 2 Developing the Host Application Developing the host application follows similar steps to developing the target application In Visual Studio 2005 follow these steps l From Visual Studio 2005 IDE Select File gt New gt Project the following new project screen will appear as shown in figure 58 2 Expand Visual C to select Windows as shown in figure 58 S Then select gt Windows Application and enter Your Application Name as the project name as shown in figure 58 4 Click OK Project types Templates W Visual Basic Visual Studio installed templates Visual C 4 Windows Application E Class Library El Windows Control Library amp Web Control Library 6 Smart Device ER console Application Ei Windows Service E Empty Project pr Crystal Reports Application My Templates Database Starter Kits Remote Tools Framework Web EH Search Online Templates Visual JE Visual C Other Project Types Platform Builder for CE 6 0 A project for creating an application with a Windows user interface Name WindowsApplication3 Location C Users Carlos Daboin Documents Visual Studio 2005 projects Solution Name WindowsApplication3 V Create directory for solution ere Figure 58 New Project Window 46 Now you can start developing any Windows Visual C application The project source code for the host can be obtained from my websit
6. Make sure the servo is in center position and remove the servo horn Be careful to not turn the servo shaft as in figure 31 mm z mm dzmm Steel Steel Screw Standard Mut gt ff Servo Wrist Fiotate Bracket Figure 31 C Bracket 21 Step 3 Attach the Little Grip to the HS 85BB servo as shown Push it onto the servo and secure with the servo horn screw Tighten this down snugly as shown in figure 32 Figure 32 Gripper Structure Step 4 Make sure the HS 422 servo is aligned to mid position and the gripper is halfway open Now the servo and gripper will be aligned correctly Remove the servo screw and horn Slide the servo into the gripper from the bottom You may need to wiggle it a bit to get it seated properly Use the servo screw to attach the servo Tighten this down but then unscrew it half a turn Too much friction can bind the servo as shown in figure 33 Figure 33 22 Step 6 Slip the gripper assembly back onto the arm assembly and attach with two 2 x 250 tapping screws Add a 6 or 12 extender cable or both if necessary to the wrist rotate servo and plug into channel 5 on the SSC 32 Use wire ties to tidy up the wires as shown in figure 34 2 x 2 x 250 4 Steel Phillips Head Tapping Screw ie p 0 250 m Figure 34 Arm Gripper Complete Assembly 23 1 2 1 3 Arm Cabling Connection This section coverts the electric wiring connection from the servo motors in
7. CE 6 0 This section shows how to start the development of Visual C software applications l From Visual Studio 2005 IDE Select File gt New gt Project the following new project screen will appear as shown in figure 57 2 Expand Visual C and Smart Device folders to select Windows CE 5 0 as shown in figure 57 3 Then select gt Device Application and enter Your Application Name as the project name as shown in figure 57 4 Click OK roject types Templates G Visual Basic Visual Studio installed templates Windows Ef Device Application FE Class Library H Smart Device FE Control Library ER Console Application Database Es Empty Project Starter Kits T f Web My Templates gt Visual CS Er Search Online Templates Windows B Smart Device Pocket PC 2003 Smartphone 2003 Windows CE 5 0 Database Starter Kits Remote Tools Framework Web v A project for creating a NET Compact Framework 2 0 forms application for Windows CE 5 0 and later Name DeviceApplicationl Location C Users Carlos Daboin Documents Visual Studio 2005 projects Solution Name DeviceApplication1 7 Create directory for solution za Figure 57 New Project Window 45 Now you can start developing any Windows Embedded Visual C application that is writing the actual code The project source code for the target can be obtained from my website http satnet fgcu edu cedaboin WebCam zip
8. Device E Windows Forms Designer aa Figure 63 VS 2005 Option Window 5 Click on the Properties button to bring up Your SDK Name x86 Device Properties setting screen as shown in figure 64 eBox 300_WinCE600_5DK x86 Device Properties Default output location on device Program Files Folder Transport TCP Connect Transport bud Bootstrapper ActiveSync Startup Provider Detect when device is disconnected Figure 64 VS 2005 Device Properties 52 6 Click on the Configure button to bring up Configure TCP IP Transport as shown in figure 65 7 Select Use specific IP address and enter eBox 2300 s IP address as shown in figure 65 Configure TCP IP Transport Use fixed port number Device IP address Obtain an IP address automatically using ActiveSync 9 Use specific IP address 192 168 1 107 Figure 65 Configure TCP IP Transport 8 Select Tools gt Connect to device 9 Select Your eBox SDK name from the list of available devices and click on the Connect button as shown in figure 66 53 Connect to Device To connect to a physical device or launch an emulator image j Rani select a platform then choose a dewice below ER Camserver eBox2300 WinCEsoo SDK x86 Device Pocket PC 2003 Device Pocket PC 2003 SE Emulator Pocket PC 2003 SE Square Emulator Pocket PC 2003 SE Square VGA Emulator Pocket PC 2003 SE VGA Emulator Windows CE 5 0 Device Windows CE Generic Platform Nested Sub
9. File Installer Uninstaller This component provides application installation amp removal It s needed for application development using Visual Studio NET 2003 and Visual Core OS Services gt USB Host Support gt USB Storage Class Driver This component provides support for hot pluggable USB storage device supporting most USB flash drive and external USB mass storage device Expand Core OS gt CEBASE gt File Systems and Data Store folder select and include the following components to the OS Design 35 a File System Internal gt RAM and ROM File System b Registry Storage gt Hive based Registry Both of the above two components are needed to support Hive based registry implementation Hive based registry 1s used to store and save registry entries changed between power reset 14 From VS2005 IDE select Build gt Configuration Manager From the Active solution configuration selection options select ICOP Vortex86 60B x86 Release as shown in figure 47 Configuration Manager Active solution configuration Active solution platform ne6_6 86 Releas Platform Builder Specific _TGTCPU Project contexts check the project configurations to build or deploy Project Configuration Platform OSeBbBoxCamServer ICOP_Vortex86_60B Platform Builder Specific Figure 47 VS 2005 Configuration Manager 15 From VS2005 IDE select Project gt Your OS Name Properties 16 Click to expand Configur
10. This section cover all the details to assemble the robotic arm the section cover the assembly of the arm base the arm frame and the arm gripper 1 2 1 1 Arm Base The steps to assemble the rotating arm base are the following Step 1 Insert the stainless steel pins into the plastic bearings as shown in figure 1 5 x 1116 x 378 Pin Brim Plastic Gearing Figure 1 Plastic Bearings Step 2 Install the bearings into the base as shown They will fit snugly Note the notch in the bottom edge of the base indicates the back shown in figure 2 Step 3 Lay a piece of 400 grit sandpaper on a flat surface and move the base upside down in small circles on it This will remove any imperfections on the bearings As shown in figure 3 Figure 2 Plastic Base Figure 3 Plastic Base Step 4 Figure 4 shows the circle pattern on the sandpaper and the inset shows the bearings after any imperfections have been removed As shown in figure 4 Figure 4 Base with Bearings Installed Step 5 Figure 5 illustrates a typical standard size servo with its output horn the round white part at center position Make sure your servo looks like the image and then carefully remove the servo horn screw and pull the horn straight off of the servo As shown in figure 5 I NS 475H8 Figure 5 Servo Motor Step 6 Place the servo in the base as shown and screw it in tightly using four 4 tapping screws As shown in
11. figure 6 and figure 7 4x 4 x SPS CSE Steel Phillips Head Tapping Screw er mmm 0 379 Figure 7 Step 7 Attach the ASB 201 bracket onto the base top using four 2 56 x 250 phillips head machine screws and four 2 56 nuts as shown Note the bracket is included in the arm kit not the base kit As shown in figure 8 and figure 9 4x 4x 2 56 x 250 4 Steel 2 56 x 188 Steel Phillips Head Machine Screw Standard Mut ai Fe 0 250 H Figure 8 Figure 6 Servo Base Installation Figure 9 Bracket Base Top Installed Step 8 Add a drop of 3 in 1 oil to each bearing As shown in figure 10 Figure 10 Base Top Step 9 Install the base top The hole pattern should line up as shown in Figure 9 with one line pointing to the servo wire hole and all of the lines pointing between the mounting tabs Note this top piece is manufactured to be a tight fit You might have to press very hard Attach the top with the servo horn screw As shown in figure 11 Figure 11 Base Completed Assembly Step 10 Route the base servo s cable through the hole in the back of the base This will keep the base level to the mounting surface As shown in figure 12 10 Figure 12 Base Cable Exit 1 2 1 2 Arm Frame Assembly The steps to connect the arm brackets to the servos and to the arm base are the following Lexan Preparation The lexan pieces have a protective covering that needs to be remov
12. 008 lt http www embeddedpc net download doc eBox2300_CE60_JumpStart _Rev3 5 pdf gt 58
13. Carlos Daboin Project Advisor Dr Janusz Zalewski Florida Gulf Coast University Robotic Arm Connectivity User Manual August 13 2009 1 Introduction The purpose of this document is to give instructions to a new user how to set up operate and program eBox 2300 Robotic Arm Server The ebox is programmed to operate and use devices connected to it web camera and servo motors The specification of devices used in this project is given in the next sections 1 1 Hardware required The equipment used in this project is composed of the following hardware items 1 eBox 2300 thin client as a target 1 2 Windows PC XP VISTA as a host computer 3 Logitech Quick Cam Pro 5000 2 4 Servo Controller for 8 servo motors 3 7 Servos Needed 4 e 3X Servos HS 422 e 1X Servo HS 475HB e 1X Servo HS 755HB 8 Cables and connectors 4 e 3 servo extender cable 6 e 3 servo extender cable 12 e 3 servo extender cable 24 9 Keyboard and a mouse single USB cable connection is recommended 10 Network infrastructure LAN 1 2 Hardware Assembly This section present the steps to assemble the robot arm frame with the embedded servo motors Then the section will cover the connectivity between the arm the controller and the eBox 2300 The following steps that explain the assembly of the robotic arm structure are a copy of the online assembly guides from Lynxmotion website 4 1 2 1 Arm Frame Assembly
14. DREL_USE_COPY 1 Write runtime image to flash memory IMGFLASH 1 Subproject Image Settings sure ME Figure 48 VS 2005 Property Page 2N Click to high light Environment on the left side of screen as shown in figure 49 37 OSeBoxCamServer Property Pages Configuration Active ICOP_Vortex86_6 Configuration Manager El Common Properties Environment variables Build Tree WINCEROOT Variable B Configuration Properties General Locale Build Options Custom Build Actions Subproject Image Settings Value Cancel Figure 49 VS 2005 Property Page 22 Enter new variable name and set associated value for the following environment variables as shown in figure 50 Click New enter variable name and variable value Refer to table below IMGRAM128 Supports hardware with 128MB of RAM PRJ BOOTDEVICE_ ATAPI Designates booting from ATAPI device function PRJ ENABLE FSMOUNTASR OOT Enables external file to mount as root PRJ_ENABLE_FSREGHIVE Enables Hive based registry 38 OSeBoxCamServer Property Pages Configuration Actve ICOP_Vortex86_6 os Configuration Manager Common Properties Environment vanables Build Tree WINCEROOT E Configuration Properties Varable Value IMGRAM128 1 General PRJ_BOOTDEVICE_ATAPI 1 Locale PRJ_ENABLE_FSREGHIVE 1 Build Options PRJLENABLE_FSMOUNTASROOT 1 Environment Custom Build Actions Subproject Image Settings Figure 50 VS 2005 Pro
15. Project Device Figure 66 VS 2005 Connect Device Window 10 The eBox 2300 must have the OS image already loaded then go to 11 Device gt Windows and double click on files This to files allow application remote debugging Select Debug gt Start Debugging to bring up the Deploy screen as shown in figure 67 Deploy ChatServer Choose where to deploy your application Device CamServer eBox 2300 WinCE600 SDK x86 Device Pocket PC 2003 Device Pocket PC 2003 SE Emulator Pocket PC 2003 SE Square Emulator Pocket PC 2003 SE Square VGA Emulator Pocket PC 2003 SE VGA Emulator Windows CE 5 0 Device Windows CE Generic Platform Nested SubProject Device Show me this dialog each time I deploy the application Figure 67 VS 2005 Deploy Window 54 11 Select Your eBox SDK name and click Deploy as shown in Figure 67 For a complete set of steps including details of the Window Embedded CE installation and deployment refer to eBox2300_CE60_JumpStart 10 file that comes with the eBox 2300 or can be obtained from my web site 8 55 4 Client Application and Testing Host The client software which accesses the server running on the target can be developed completely independently The initial step to start is to open an application project in Visual Studio IDE on the host and proceed from there The source code of the current version of the client can be downloaded from my website http satnet fgc
16. ard to eBox 2300 s USB or PS2 back ports PS2 is recommended for keyboard and the mouse connections to allow the tree USB devises to use the three eBox USB ports Refer to figure 37 to locate PS2 port ES te ler Fe com2 ERE ER amp ON 1 Power Port 5 Monitor Serial Port 2 Power Switch 6 Ethernet Port 3 PS2 Port 7 USB Port 4 Serial Port 8 USB Port USB Port Ports Compact Flash Card Slot Figure 37 eBox Front and Back Ports 26 3 Connect the servo and the temperature sensor to the two UBS front ports and USB cam to the USB Back port The eBox 2300 target IP address is obtained via DNS and is broadcast to the host after the eBox 2300 is powered The target displays a MS DOS menu when it is powered then from this menu the user can chose the preferred way to broadcast the boot me request as shown in figure 38 1 Boot CE PC local nk bin with L 1824x768x32 Figure 38 MS DOS Boot Menu 1 4 Software Installation For proper operation of the system the following software items have to be installed as explained in the following steps 1 4 1 Install MS Visual Studio 2005 or 2007 on the host Windows PC Visual Studio is needed to develop C and VB software applications It can be obtained from the following site http www microsoft com express download 5 27 1 4 2 Install Windows Embedded CE 6 0 on the host Windows PC needed to deploy OS image It is a 3 month trial license that
17. ation Properties tree on the left side of the screen as shown Figure 13 17 Click to high light Build Options a list of Build Options with check boxes will be shown on the right side of the screen as shown on figure 48 36 18 Select Enable eboot space in memory IMGEBOOT 1 This option adds support for Ethernet debugging by bundling the Ethernet boot loader in the image as shown in figure 48 19 Select Enable ship build WINCESHIP 1 This option will enable a retail build and suppress debug messages as shown in figure 48 20 Disable KITL Make sure the Enable KITL no IMGNOKITL 1 check box is NOT selected as shown in figure 48 OSeBoxCamServer Property Pages Configuration Active ICOP_Vortex86_6 Platform 1 2 Configuration Manager Common Properties Build options Build Tree WINCEROOQT _ Buffer tracked events in RAM IMGOSCAPTURE 1 El Configuration Properties Enable eboot space in memory IMGEBOOT 1 General Enable event tracking during boot IMGCELOGENABLE 1 Locale Enable hardware assisted debugging support IMGHDSTUB 1 Build Options Enable kemel debugger no IMGNODEBUGGER 1 Environment Enable KITL no IMGNOKITL 1 Custom Build Actions Enable profiling IMGPROFILER 1 Enable ship build WINCESHIP 1 Fush tracked events to release directory IMGAUTOFLUSH 1 Run time image can be larger than 32 MB IMGRAM64 1 C Use xcopy instead of links to populate release directory BUIL
18. can be obtained from the following site http www microsoft com downloads details aspx FamilyID 7e286847 6e06 4a0c 8cac ca d4cO9cb56 amp DisplayLang en 5 1 4 2 1 Windows Embedded CE 6 0 platform builder To install Windows Embedded CE 6 0 platform builder Visual Studio 2005 2008 must already be installed onto the develop station Host During Windows Embedded CE 6 0 installation program make sure you install ARMV4I CPU support and ICOP_Vortex86_60B BSP components in the setup installation window 1 4 2 2 Board Support Package Installation Board Support Package consists of all necessary Windows CE 6 0 device drivers and libraries needed by the platform builder to create OS Design and build CE 6 0 image Download and install the following file ICOP_Vortex86_60B_BSP MSI from http www embeddedpc net 7 or my web site 8 Then double click on it to start the installation 1 4 2 3 VS2005 CoreCon Component Installation CoreCon is used to establish a link between Windows CE 6 0 target eBox 2300 and Visual Studio development station Host Windows Pc to download visual C VB software application onto the target for testing and debugging Download and install the following file CoreCon_x86_VS2005 MSI from http www embeddedpc net 7 or my web site 7 Then double click on it to start the installation 28 1 4 3 Install Phidget framework for eBox Windows Embedded CE to be able to communicate with the servo motor and t
19. ck nut The amount of friction can be adjusted by tightening or loosening the lock nut Start with the nut loose and if the arm seems to wobble a bit you can tighten this joint to correct the wobble as shown in figure 24 Caution don t over tighten this If the arm is operated with the mechanical dampeners too tight the servo WILL heat up and CAN be damaged 1 x 4 40 x 250 Steel Mylon Insert Locking Mut fo H Figure 24 Arm Frame Step 12 Figure 12 illustrates a typical standard size servo with its output horn the round white part at center position Make sure your servo looks like the image The arrows in the image point to the screw holes you will use as shown in figure 25 NS 4T5RB Figure 25 Servo Motor 17 Step 13 Attach the HS 475HB elbow servo to the bracket as shown using the 3mM hardware follow the diagram below Use two 2 x 1 4 tapping screws to secure the bracket to the servo horn Route the shoulder servo wires over the servo Plug the servo into channel 2 on the SSC 32 as shown in figure 26 2 X 2 x 250 1 4 Steel Use these holes for mounting Phillips Head Tapping Screw 0 250 m Snir x Amm Sint Vasher sim Steel Steel Screw Standard Mut Servo Multi Purpose Bracket Figure 26 Arm Frame 18 Step 14 Attach the Little Gripper connector to the Short C bracket using two 2 56 x 250 screws and 2 56 nuts as shown in figure 27 2X 2X 2 56 x 250 1 4
20. djusted by tightening or loosening the lock nut as shown in figure 17 Start with the nut loose and if the arm seems to wobble a bit you can tighten this joint to correct the wobble Caution don t over tighten this If the arm is operated with the mechanical dampeners too tight the servo WILL heat up and CAN be damaged 1x 4 40 x 250 Steel Mylon Insert Locking Mut fo Hi Figure 17 C Bracket Base Installed Step 5 Figure 5 show a typical mega size servo with its default servo horn at center position You will need to replace this black servo horn with the round nylon servo horn Remove the servo horn screw being careful to not rotate the servo horn itself Pull the servo o horn off then press the nylon servo horn in NS 75 508 place as close to the alignment shown as possible Replace the servo horn screw Make sure your servo looks like figure 18 The arrows in figure 18 point to the screw holes you will use Figure 18 Servo Motors 13 Step 6 Attach the HS 755HB servo to the base bracket as shown using the 3mm hardware follow the diagram below Use two 2 x 1 4 tapping screws to secure the bracket to the servo horn Route the shoulder servo wires underneath the servo Plug the servo into channel 1 on the SSC 32 Carefully rotate the base to an extreme and use a wire tie to take up the slack in the servo cable as shown in figure 19 2 x 2 x BAO 1 4 Steel Use these holes for mo
21. e http satnet fgcu edu cedaboin WebCam zip 8 47 3 Application Deployment Once the system is configured as described in Section 1 and the application developed as explained in Section 2 the software is ready for deployment There are two essential steps in deploying the application on the target the Windows Embedded image deployment and the server application deployment 3 1 Windows Embedded Image Deployment The following steps have to be followed for deployment 1 From VS2005 IDE select Target gt Connectivity Options gt Add Devise gt name your target device e g eBox 2300 and click on the Add button to continue Then From the Target Device Connectivity Options screen make sure Debugger set to KdStub and clicks on one of the Settings buttons to bring up the Ethernet Download Settings screen Refer to figure 59 Target Device Connectivity Options TER Device Configuration Add Device eBox 300_WinCE600_SDK x86 Device Delete Device Service Configuration Kernel Service Map CEPC35060 Core Service Settings Transport Service Status CEPC35060 Debugger Kd Stub Prompt On Error cise Figure 59 VS 2005 Target Device Connectivity Options 48 2 Turn on power and boot up eBox 2300 It will boot to DOS and provide the menu 3 4 selections Select 3 or 4 menu option for an image that will load from an Ethernet connection After eBox 2300 boots up and sends a bo
22. eCon_x86_VS2005 allows remote C application remote debugging 50 3 2 C application deployment to eBox 2300 Once the image has been loaded on the eBox target the application on itself has to be deployed as described in the following steps 1 Set the target device to Your eBox SDK name on the target device drop down menu as shown in figure 62 2 ChatServer Microsoft Visual Studio File Edit View Refactor Project Build Debug Target Data eBox2500 WinCE 00 SDK x86 Dew ah e Camserver e50x2300 WinCE600Q SOK x86 Device Pocket PC 2003 Device Server Forml Pocket PC 2003 SE Emulator Pocket PC 2003 SE Square Emulator Pocket PC 2003 SE Square VGA Emulator Pocket PC 2003 SE VGA Emulator Windows CE 5 0 Device Windows CE Generic Platform Nested SubProject Device Figure 62 VS 2005 Target Device 2 Select Tools gt Options 3 Click to expand the Device Tools folder and select the Devices sub folder 4 Select Your eBox SDK name from the list of available platform in the Show devices for platform combo text box as shown in figure 63 51 Options Import and Export Settings A International Settings i Startup Task List CamServer Web Browser eBox2300_WinCE600_SDK x86 Device H Projects and Solutions Source Control Text Editor H Database Tools G Debugging Device Tools General ER Form Factors E HTML Designer Platform Builder for CE eBox2300_WinCE600_SDK x86
23. ed before assembly When the laser cuts the covering melts into the cut edge which can make removal difficult If you gently scrape the cut edge with a flat blade screwdriver the covering can easily be lifted and peeled off Refer to figure 13 On smaller pieces the coverings can be more difficult to remove If you have trouble you can gently scrape the cut edge then use duct tape to lift the covering off Figure 13 Lexan Preparation Step 1 Connect the C bracket to the large C bracket as shown Use two 2 56 x 1 4 screws and 2 56 nuts as shown in figure 14 2 x 2X 2 56 x 250 1 4 Steel 2 56 x 160 Steel Phillips Head Machine Screw Standard Mut Fe 0 250 FE H Figure 14 C Brackets 11 Step 2 Install the mechanical dampening panels as shown Use four 2 tapping screws as shown in figure 15 2 x 250 C14 C Bracket Philips Head COUT SIGE _ F INSIDE Figure 15 C bracket Dampening Connection Step 3 Insert the 4 40 x 5 Phillips head screw through the hole in the multi purpose bracket as shown Secure with a steel nut as shown as figure 16 1 x 1 x 4 40 x 500 2 Steel 4 40 x 250 Steel Phillips Head Screw Standard Mut 0 5010 H Figure 16 Multi Purpose Bracket 12 Step 4 Slide the large C bracket end of the bracket assembly over the screw as shown and secure i aal with a nylon insert lock nut The amount of e i friction can be a
24. h the ones you copy from my web site Finally right click on the subproject and select build to add this component to the OS image 2 3 Building SDK Software Development Kit on the Host To create CE 6 0 applications using Visual Studio 2005 and establish a connection to download applications to the eBox 2300 for testing and debug VS2005 needs a SDK for eBox 2300 Follow these steps in the windows embedded CE image project file Your OS design project in Visual Studio 1 From VS2005 IDE select Solution Explorer Tab gt SDKs Directory Right click on it and select Add New SDK as shown in figure 53 41 Solution Explorer ah Wim CE os i C WINCE600 ir Favorites i Parameter Files a Ea EGE Add New SDK Add Existing SDE Build All SDKs cyl Solution Explorer Catalog Items View Figure 53 Solution Explorer Window 2 Enter Your SDK Name as the name for the SDK as shown in Figure 54 3 Fill in the company name and company website information as shown in figure 54 SOK 2 Property Pages z General Install i License Terms Readme CPU Families E Development Languages Additional Folders Emulation SOK Name four SDK Named Product Name PO Product Version format 00 00 0000 Company Name Company Website EEE Figure 54 SDK Property Page 42 4 On the SDK property page click on Install and enter MSI folder path and MSI file name on
25. he sensor connected to the eBox Use a USB Key drive to get the file to the eBox and then install on the Windows CE Image running on the eBox It can be obtained from the following site http www phidgets com downloads php os_id 4 3 29 2 Application Development This section cover the steps to develop software for the eBox 2300 target in this project the OS used was Windows Embedded CE 6 0 and the application was developed on C under the NET framework However other operating systems like Linux and programming languages like Java can be used to develop software for the eBox 2300 target 2 1 Develop an Operating System Image for the Target eBox2300 The target needs an operating system to be able to run applications to communicate with a network and to communicate with external devices The followings steps explain how to develop a Windows Embedded CE 6 0 operating system image using Microsoft Visual Studio 2005 IDE The steps to configure develop OS image are described below l Open Visual Studio 2005 select new project 2 Select Platform Builder for CE 6 0 then OS Design and then name it your OS name As shown in figure 39 New Project Visual C Visual Studio installed templates Windows E Smart Device Database Starter Kits My Templates E Other Languages El Other Project Types Platform Builder for CE 6 0 Sa Search Online Templates Cancel Figure 39 New VS 2005 Project Window 30
26. late variant that provides the functionality that your target device requires Vanants Industrial Controller Intemet Appliance Figure 42 Windows Embedded CE 6 0 Design Wizard In the applications amp media selection step select NET Windows Media Audio MP3 and Windows Media Video MEPEG 4 Video as shown in figure 43 Windows Embedded CE 6 0 05 Design Wizard Applications amp Media Select items for applications and media to include in your OS design Windows Embedded CE Error Reporting Catalog items related ta generating an NET Compact Framework 2 0 conidia AE SEEGER Be SEE 5 Intemet Browser a problem Windows Media Sudio MP3 Windows Media Player Windows Media Video MPEG 4 Video WordPad AML MIME Viewer Figure 43 Windows Embedded CE 6 0 Design Wizard 32 T In the networking amp communications step select Local Area Network and Wide Area Network as shown in figure 44 The OS design wizard will finish after this Step Windows Embedded CE 6 0 05 Design Wizard Networking amp Communications Select items for networking and communications to include in your OS design Jee Local Area Network LAN asna suc gc cams lp Parna ft etude Pah dispersed over a relatively limited area an FEER Pens oe eiaa connected by a communications link that Remote Desktop Connection enables devices to interact with each Security other on the network TOPP Support Wide Area Network WVAN FEE E
27. ot me request the Ethernet Download Settings dialog screen select device ID listed in the Active target devices list box Refer to figure 60 Ethernet Download Settings Target device boot name CEPC 35060 IP address 197 168 1 107 Bootloader 3 3 Active target devices CEPC 35060 TFTP block size in bytes 5 12 Restore a Figure 60 VS 2005 Ethernet Download Settings Click and highlight the device ID listed in the Active Devices window 49 5 Click Ok to continue 6 Turn off the eBox and the turn on power and boot up eBox 2300 from the DOS menu select 2 3 0r 4 for and Ethernet connection 7 From VS2005 IDE select Target gt Attach Device You should get a window that looks like figure 61 Downloaded 41 of Runtime Image to eBox 300 E Ed Fe CI Downloading CAWINCEBODSOSDesignsebores00 ebox2 S00 A elD ir Estimated time lett A sec 9 1 ME of 22 1 MB copied Download through Ethernet Transfer rate 1 6 MB sec Close this dialog box when download completes Close Cancel Figure 61 Download Image Window 8 After the image download process is completed eBox 2300 will load the Windows CE image 9 From eBox 2300 desktop with CE 6 0 image running on the eBox 2300 double click on open the Windows folder on OS desktop 10 From the Windows folder double click on ConmanClhient2 exe and double click on cMaccept exe to launch CoreCon_x86_VS2005 connection service Cor
28. perty Page PER From the VS2005 IDE select Build gt Build Solution to build OS image from the OS Design project 2 2 Install the WebCam Driver on the Target The driver used in the project to allow communication between the target operating system applications and USB camera was develop by Doug Boling author of Programming Windows CE a group of developers including some from Microsoft 9 The USB Webcam driver has been released under the Microsoft Shared Source license The driver supports cameras in compliance to the USB Video Standard The driver has been tested against the Logitech QuickCam Pro 5000 and video streaming has been tested by WebCam2 application also developed by Doug Boling under C Driver and test application subproject on Windows Embedded CE 6 0 are used as follow 39 1 In the OS design project right click on the Subprojects folder locater in the Solution Explorer tab as shown in figure 51 Solution Explorer Solution eBoxOS a 1 project i x P Solution eBoxOS 1 project fj eBox0sS il C WINCE600 furer Favorites I Parameter Files r ICOP Vortex286 608 X86 Active h SB a Camtest3 C AWWINCE600 OSDesigns eBoxOS eBoxOS Cz Bd ConMan_x86 C WINCE600 public conman_x86 sources Gd MIPEGFilter C AWVINCE600 public thirdparty catalog usb z E Usbcam C AWINCE600 fpublic thirdparty catalogfusbcam E WebCAM C WINCE600 O0SDesigns eBox0S eBoxO5 We e lt m
29. stalled on the arm frame to the Phidget multi servo controller pins The wiring connections have to be implemented as shown in figure 35 in order to send instruction commands to the right servo motor Figure 35 Multi Servo Controller Connection Pins e 0 Pin connects to servo base motor cable e Pin connects to servo shoulder motor cable e 2 Pin connects to servo frame motor cable e 3 Pin connects to servo hand motor cable e 4 Pin connects to servo gripper motor cable 24 1 3 System Network Connection The system should be connected as shown in figure 36 This can be done in the steps discussed below LAN WAN Network 3 x 1 j LA Servo Motor Arm Frame Ethernet connection Router Access Point eBox 2300 R Router Access Point Logitech QuickCAM Pro 5000 Ethernet connection Windows PC XP VISTA Figure 36 System s Network Diagram 1 3 1 Windows PC host XP VISTA connectivity 1 Connect Windows PC to the network wireless or wired but make sure the PC and eBox 2300 are in the same network because to load operating system image on the eBox target the host has to fetch a boot me request coming from the target to obtain its IP address A wired connection to the network was used in this project 25 1 3 2 eBox 2300 Connectivity 1 Connect power cord monitor cable and Ethernet cable to eBox s back ports Refer to Figure 2 to locate ports 2 Connect the mouse the keybo
30. the right side as shown in figure 55 5 Use the default path and enter Your SDK Name msi as the file name as shown in figure 55 SDK Property Pages General MSI Folder Path License Terms Readme MSI File Name Development Languages Additional Folders Locale Emulation U S English a Figure 55 SDK Property Page 6 On the SDK Property Page click on Development Languages and select both Native and Managed development support as shown in figure 56 43 SDK Property Pages General Install License Terms Readme CPU Families Development Languages Additional Folders Emulation Select the development languages that pou want your SOK to support Native development support Platform specific macro optional Figure 56 SDK Property Page 7 Click on the Apply and then OK button 8 From VS2005 IDE select Build gt Build All SDKs to build and generate SDK installation file 9 A SDK with the file name Your SDK Name msi is generated in the following directory WINCE600 OS Designs Your Project Name Y our Project Name SDKs SDK1 MSW Your SDK Name 10 To install this SDK in VS2005 locate SDK file at WINCE600 OS Designs Y our Project Name Your Project Name SDKs SDK1 MSI Your SDK Name Then double click on it 44 2 4 Software Application in Visual C 2 4 1 Developing a Target Application Visual Studio 2005 can be used to develop software applications for Windows Embedded
31. tp www phidgets com gt 4 Products Robotic Arms Lynxmotion Inc Web 20 June 2009 lt http www lynxmotion com Category aspx CategoryID 27 gt 5 Visual Studio Express Editions Visual Studio Express Editions 2008 12 Sept 2008 lt http www microsoft com express 2005 gt 6 Windows Embedded Developer Center Microsoft Windows Embedded Developer Center 10 Sept 2008 10 Sept 2008 lt http msdn microsoft com en us embedded default aspx gt 7 ICOP Vortex86 60B BSP msi BSP Driver amp Utils for Windows Embedded CE 6 0 8 Sept 2008 lt http www embeddedpc net Download WindowsEmbeddedCE60Downl oad tabid 1 13 Default aspx 8 Daboin Carlos System for Remote Measurement and Control System for Remote Measurement and Control 12 Mar 2009 Florida Gulf Coast University 12 Apr 2009 lt http satnet fgcu edu cedaboin ebox2300 html gt 57 9 Boling Doug Webcam100 zip Windows CE Webcam Project 15 Oct 2007 Codeplex com 10 Oct 2008 lt http www codeplex com cewebcam Release ProjectReleases aspx Rele aseld 7751 gt 10 Hamblen James O WebCam Index of hamblen wemap eBox4300 Subprojects C C 11 Apr 2008 Georgia Tech 1 Nov 2008 lt http users ece gatech edu hamblen wemap eBox4300 Subprojects_C_ C gt 11 Phung Samuel EBox 2300 Windows Embedded CE 6 0 Jump Start Guide EBox 2300 Windows Embedded CE 6 0 Jump Start Guide ICOP Technology Inc 01 Oct 2
32. u edu cedaboin ebox2300 html 8 To run the client download the MSI files from my website then double click on MSI file icon after downloaded The two MSI files are different one client Robot Arm Gamepad has the capability to control the arm with an Xbox 360 controller The other client Robot Arm can control the arm but does not the capability to control the arm with a gamepad The GUIs images shown in figure 68 will appear on the screen Then click the connect button to communicate with the target and get the webcam image and robotic arm control a Arm Control Panel eBox IP i Robot Arm Connection Port 1 17888 Port2 18888 eBox 2300 IP 192 168 1 104 Connect 4 Video Port 18888 8888 Arm Base Arm Shoulder Arm Frame Postion ETE Postion EET Postion EET 215 145 185 Position CMD mz fal Figure 68 Clint application s GUI running on the Host 56 Disconnect CMDs Port 17888 Activate Deactivate Gamepad Gamepad References 1 EBox 2300 EBox 2300 CompacT PC Embeddedpc net 1 Oct 2008 lt http www embeddedpc net eBox2300 tabid 110 Default aspx gt 2 Logitech QuickCam Pro 5000 WebCam Amazon com Logitech QuickCam Pro 5000 WebCam Electronics Amazon com 20 Oct 2008 lt http www amazon com Logitech QuickCam Pro 5000 WebCam dp B000BDH2XY gt 3 Products for USB Sensing and Control Phidgets Inc Unique and Easy to Use USB Interfaces Phidgets com 1 Feb 2009 lt ht
33. unting Phillips Head Tapping Screw 0 250 Snir x Amm amm Vasher amr Steel Steel Screw Standard Mut Servo Multi Purpose Bracket Figure 19 Servo Motor Base Installed 14 Step 7 Attach two of the tubing connector hubs to the short side of the L brackets using four 2 56 x 250 screws and 2 56 nuts as shown in figure 20 4x 4x 2 56 x 250 14 Steel 2 56 x 188 Steel Phillips Head Machine Screw Standard Mut ai Fe 0 250 FE H Figure 20 Connector Hubs Step 8 Connect the hubs to the 1 50 tube using two 4 40 x 250 screws Tighten these down tightly as shown in figure 21 2 x 4 40 x 250 174 Steel Hex Socket Head Cap Screw 3 32 drive i 0 250 Figure 21 1 50 Tube 15 Step 9 Attach the tubing structure to two Multi Purpose brackets as shown using four 2 56 x 250 screws and 2 56 nuts as shown in figure 22 4x 4x 2 56 x 250 14 Steel 2 56 x 188 Steel Phillips Head Machine Screw Standard Mut ai Fe 0 250 FE H Figure 22 Multi Purpose Brackets Step 10 Insert the 4 40 x 5 Phillips head screw through the hole in the multi purpose bracket as shown Secure with a steel nut as shown in figure 23 1x 1x 4 40 x 250 Steel 4 40 x 500 1 2 Steel Standard Mut Phillips Head Screw Figure 23 Multi Purpose Bracket 16 Step 11 Slide the screw on the forearm assembly through the dampening discs as shown and secure with a nylon insert lo
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