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1. T18 T20 T21 T22 T24 T25 T26 TMAX TTOTAL INFOL Phoenix5 1 1 59 99970627 77 35305023 54 89247894 0 77 35662842 54 86826324 60 77 35134888 54 89591217 60 77 34999847 54 88999939 0 77 35475922 54 87849426 60 00029373 77 35748291 54 85892487 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 Start all legs up 71 2 59 99970627 65 48595656 51 7792497 0 65 49775465 51 75908948 60 65 48302987 51 78197142 60 65 48357677 51 77679506 0 65 49239564 51 76756648 60 00029373 65 50175092 51 75125447 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 71 3 59 99970627 54 11821378 47 79142125 0 54 13546841 47 77502001 60 54 11452192 47 79349518 60 54 11641713 47 78902285 0 54 12780672 47 78187455 60 00029373 54 14157224 47 76858387 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 71 4 59 99970627 43 51533199 43 10108772 0 43 53573469 43 08798845 60 43 51124023 43 10259805 60 43 51399002 43 098754 0 43 52675658 43 09341927 60 00029373 43 54307326 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 278372 08 43 71 5 59 99970627 33 72762602 37 83457397 0 33 74955541 37 82430571 60 33 72337887 37 83560236 60 33 72661444 32. 200 200 200 200 200 200 200 2 3 51 06034518 9 984683372 10 22271045 11 65071392 17 95571946 26 19220803 64 13941178 46 04084944 37 70772187 51 06094331 9 985301078 10 22043364 11 65444425 17 94650294 26 19463549 64 13473854 46 072712956 37 69062375 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 2 4 46 12162941 17 90878567 4 360157241 15 28880056 19 22299867 26 44720444 64 89503626 56 49908497 10 51086115 46 1224198 17 90947501 4 357800421 15 29359776 19 21417428 26 44974487 64 88926074 56 52762832 10 49000025 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 4 4 Appendix 2 Source code of our csv reader 1 5 BORK KKK KK KK KR KKR RKA KRK KKR KK KRK KKR RR RK kc k k kkk ck kck ck ck ck KRK Phoenix Hexapod Robot csv reader v1 0 modified for Phoenix3 csv by Fredrik Persson and Mattias Lindstrom for Avnet Memec jan 2010 KCKCKCKCKCKCkCkCk ck kCk ck Ck k k kCk k kCk Ck kCk Ck Ck kCk k kCk Ck k kc k k Ck kCk k kk ck kck c
3. 9 4 5 21 0 15 8 49 3 21 3 22 17116 9 21 2 17 6 109 0 21 3 21 2 41 9 21 3 24 2 12 1 21 3 19 7 12 1 21 3 19 7741 9 21 2 24 2 109 0 21 4 21 21 2 60 0 183 3 60 0 71 4 4 60 0 59 7 5 60 0 48 7 6 60 0 38 5 7 8 9 71 4 53 4 60 59 7 49 9 60 48 7 45 5 60 0 0 0 38 5 40 5 60 0 0 0 REE BPE REP Fig 2 Example of a csv file displayed in plain text Convert data to SSC 32 format The second thing our csv reading software needs to do is to convert the values in the csv files into commands for the SSC 32 servo controller board Pulse proportional servos as used in this project uses signals that consist of positive going pulses ranging from 0 5 to 2 5 ms long repeated 50 times a second The servos position their output shafts in proportion to the width of the pulse and the SSC 32 together with our servos HS 645MG have a range of up to 180 The minimum position value 500 corresponds to 0 50ms pulse 90 and the maximum position value 2500 corresponds to a 2 50ms pulse 90 The servos are centered at a position value of 1500 A one unit change in position value produces a 1us microsecond change in pulse width which represents 0 09 Hence the positioning resolution is 0 09 180 2000 See fig 3 Servo 90 Servo Servo 90 Centered Pulse width d 0 5 ms 1 5 ms 2 5 ms Fig 3 Pulse width and
4. Hexapod s servo controller board and host controller board communicates using serial communication To configure this we need to install a couple of jumpers on the SSC 32 see 55 32 manual 7 for further details We want to enable DB9 serial port and configure baud rate We choose 38 4k the same baud rate as the original Basic Atom uses The PXA270 requires 3 5 4 2 volts with its original power module and the battery voltage is 7 2 volt Therefore we needed a different power module that had an input ranging from 6 to 30 volt This made it possible to use the onboard battery pack We temporarily used an external adjustable power supply while waiting for the real power module to arrive after ordering it With a steady power source we were not depending on the capacity of the batteries 5 2 Software deployment 5 2 1 Development toolchain When developing software for a different platform than the PC a set of computer programs is needed It is called a development toolchain which consists of a compiler a linker a set of libraries a text editor for writing source code and a debugger The toolchain recommended for the PXA270 and which we used in this project is arm linux gnu eabi This is for compiling code for the ARM architecture on embedded computers The compiler is GCC which stands for the GNU Compiler Collection and can be used for various languages such as Ada C Fortran Java and Objective C It also includes system libra
5. MBASIC Pro is not sufficient for counting this so Janssen s solution is to count the 11 number of overflows using interrupts Since the PXA270 has 32 bit timers this will not be an issue For instance we can use the Stop Watch operation on the PXA270 see developers manual 9 for details using the SPI bus for interfacing with the Playstation 2 controller Serial Peripheral Interface Bus or SPI is a synchronous serial data link standard that operates in full duplex mode The Playstation2 interfaces to its controllers using a protocol that basically matches SPI There is a clock SCLK to synchronize bits of data across two channels Master Out Slave In MOSI and Master In Slave Out MISO MOSI bits are data moving from the master device to a slave device and MISO bits are data moving from the slave out to the master Additionally there is a slave select 55 channel one per slave device that tells the slave whether or not it is active and should listen to data bits coming across the MOSI channel or send data bits across the MISO channel In addition to the SPI protocol the Playstation2 also uses an Acknowledge ACK line This is used to acknowledge to the Playstation2 console each frame of data Further details of this protocol can be found at 4 The programming language mbasic for the BasicATOM processor includes simple syntaxes for shifting data bits in and out and setting pins logically high and low It gets
6. for the SSC 32 commands in this case servo angle in degrees and movement time in ms to corresponding pin number Fig 2 shows an example of a csv file In Appendix 1 you can see a more complete and detailed one PIN5 PIN6 PIN8 PIN9 PIN20 oe 7 56 as 60 0 83 3 56 0 0 0 183 3 56 0 60 0 1 4 53 5 60 0 71 4 53 4 0 0 71 4 53 4 60 0 71 4 11 49 9 60 0 59 7 49 9 0 0 59 7 49 9 60 0 11 45 5 60 0 48 7 45 5 0 0 48 7 45 5 60 0 7 7 40 5 60 0 38 5 40 5 0 0 38 5 40 5 60 0 38 6 40 5 200 77 60 0 29 1 29 1 35 0 60 71 35 0 60 0 29 1 35 0 0 0 29 1 35 0 60 0 2 35 607 60 0 20 4 20 4 29 0 60 1 4 29 0 60 0 20 4 29 07 0 0 20 4 29 0 60 0 1 4 29 0 200 10 7 20 5 28 8 8 8 20 5 28 8 49 4 20 5 28 5 49 4 20 6 28 5 8 8 20 5 28 8 70 6 20 5 28 8 200 81 1 20 7 21 9 17 5 20 6 28 2 39 2 20 8 27 3 39 2 20 8 27 3 17 5 20 6 28 2 81 1 20 7 27 9 91 0 21 0 26 3 26 0 20 8 27 2 29 5 21 1 25 4 29 5 21 1 25 4 26 0 20 8 27 3 91 0 21 0 26 3 100 4 21 2 24 1 34 2 21 1 25 9 20 4 21 3 22 9 20 5 21 3 22 9 34 2 21 1 25 9 100 3 21 3 24 109 0 21 3 21 2 41 9 21 3 24 2 12 1 21 3 19 7 12 1 21 3 19 7 41 9 21 2 24 2 109 0 21 4 21 116 9 21 2 17 6 49 3 21 4 22 1 4 5 21 0 15 9 4 5 21 0 15 8 49 3 21 3 22 17116 9 21 2 17 6 116 9 21 2 17 6 49 3 21 4 22 1 4 5 21 0 15
7. 7 83229915 0 33 73995017 37 82851616 60 00029373 33 75751012 37 82015744 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 71 6 59 99970627 24 68523237 32 07252794 0 24 70766728 32 06467449 60 24 68097515 32 07314355 60 24 68444819 32 0702984 0 24 69786654 32 06784341 60 00029373 24 71584459 32 06142672 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 71 7 59 99970627 16 26605241 25 85616415 0 16 28840199 25 85038587 60 16 26186206 25 85642095 60 16 2654157 25 85396176 0 16 27865339 25 85265848 60 00029373 16 29657095 25 84791022 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 72 1 57 74259903 7 107043587 21 00016088 3 957409538 16 47585602 25 88917209 61 75420755 25 82738771 30 30140993 57 74296322 7 106453478 20 99795747 3 958708112 16 46616821 25 89146248 61 75243983 25 86209149 30 29051077 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 200 X rotate 72 2 54 83364277 1 642693142 15 77788208 7 858467611 17 03487746 26 0043062 63 10956958 35 777535616 34 27625303 54 83410445 1 643277882 15 77565494 7 861022155 17 02536944 26 00664904 63 10619717 35 80920637 34 26249114 200 200 200 200 200 200 200 200 200 200 200 200 200
8. 9 2000 ms P2000 The other thing we need to retain from the csv file is the movement time the T value It is written in ms so this doesn t need recalculation 5 2 5 Send commands to the SSC 32 The last task for our csv reading software is to send all the commands above to the SSC 32 There is open source code available for RS232 serial port usage in Linux 8 licensed under GPL version 2 which basically means that you are free to change and share it 5 We use these included functions for sending and reading bytes but to set up the serial communication on the PXA270 some configuration needs to be done The baud rate needs to be set to match the SSC 32 as described in section 5 1 38 4k In addition to that we need to configure it to communicate with 8 bits no parity 1 stop bit and No flow control which are all hard coded settings in the SSC 32 6 The second step programming moving sequences After finishing The first step in this thesis project the PXA270 can now handle csv files This means that we can use the Visual Sequencer or the Phoenix Excel Program in exactly the same way as we would do with the original Basic Atom to generate desired movement sequences We choose to use Phoenix Excel Program PEP when creating a demo run sequence because it is free and fairly straightforward when it comes to creating complex movement sequences see figure 4 Our own developed sequence consists of a walk rotation lay dow
9. ISRN UTH INGUTB EX E 2010 02 SE Examensarbete 15 hp September 2011 The Memec Hexapod Robot a demonstration platform Fredrik Persson Mattias Lindstrom UNIVERSITET Teknisk naturvetenskaplig fakultet UTH enheten Bes ksadress Angstr mlaboratoriet Lagerhyddsvagen 1 Hus 4 Plan 0 Postadress Box 536 751 21 Uppsala Telefon 018 471 30 03 Telefax 018 471 30 00 Hemsida http www teknat uu se student Abstract The Memec Hexapod Fredrik Persson amp Mattias Lindstrom This thesis shows how to replace a microcontroller unit MCU on a six legged robot involving adapting hardware and developing software The robot is based on the mechanics from Lynxmotion s Phoenix Hexapod Robot which is a mechanical vehicle with 6 legs and 18 servos The robot is controlled by two controller boards which with available software can run pre made movement sequences or be controlled by a Playstation2 hand controller One of the controller boards needs to be replaced by another more powerful MCU from another manufacturer The new MCU comes from Avnet Memec which is a major emiconductor components distributor They want to use the Hexapod Robot as a platform for demonstrating the capabilities of the franchises on their line card to attract potential customer s interest and awareness The original Basic Atom Pro 28 MCU needs for that purpose to be replaced with hardware from an Avnet Memec franchise Avnet Memec has decid
10. KDEBAT T SE Appendix 4 The Phoenix Hexapod Robot
11. OfTen U break case U units if lInPtr 0 dtPtr 0 else dtPtr dtPtr lnPtr 48 if negFlag 1 dtPtr dtPtr 1 negFlag 0 flag 1 if next number is a decimal if line lnIdx 1 powerOfTen D flag 0 break case D decimal if lnPtr gt 5 round to one decimal if dtPtr gt 0 dtPtr dtPtr 1 else dtPtr dtPtr 1 while lnPtr lnPtr lnIdx lnPtr lnIdx flag 1 break end switch end of if digit Appendix 2 Source code of our csv reader 4 5 end of between cell nbr end of startvalue counter lnPtr t end of row send data to servos if data 3 0 OpenComport PORT BAUT sNr 0 servo pin number for k 0 k lt 9 k if sNr 3 sNr 7 sNr sprintf buffer dP d sNr data k 3 csv control sprintf buffer 50250 sNr 1500 limiter k data k 3 100 9 servos inverted scaled by 100 2 50 PORT buffer puts buffer test print to screen sNrt sNr 16 for k 16 k lt 25 k if sNr 19 sNr 23 sNr sprintf buffer dP d sNr data k 4 csv control sprintf buffer 50250 sNr 1500 limiter k data k 4 100 9 scaled by 100 2 50 cprintf PORT buffer puts buffer test print sNrt puts buffer test print sprintf buffer2
12. TSd r data 21 T data 21 cprintf PORT buffer2 puts buffer2 test print to screen usleep data 21 1000 PAUS printf End of line wait for servos to finish nrowcounter dNn rowCtr 1 1 0 cellCtrz0 end open fil CloseComport PORT prova flytta hit fclose fr close the file prior to exiting the routine end main Appendix 2 Source code of our csv reader Functions Ly init Initialize variables void init powerOfTen 0 H hundred T ten U unit D decimal startValue 42 wait startValue number of startCtr 0 start counter skip first row cellCtr 0 cell counter negFlag 0 if negative number k 0 used in for loops InIdx 0 line array index dtIdx 0 data array index flag 1 check size of number sNr 0 servo number used in communication rowCtr 0 clearArray clear reset arrays void clearArray for k 0 k lt BUFSIZE k line k 0 for k 0 k lt BUFSIZE k data k 0 limiter check for mechanical limits int limiter int pin int v int tmp if minAngles pin v tmp v else tmp minAngles pin if maxAngles pin gt v tmp v else tmp maxAngles pin return tmp metreteknik Ny m ssa ska samla branschen Elektronikbransche
13. aystation 2 controller 11 8 Results and conclusions tens 13 9 Suggestions on further development sese 13 10 HOWTO a Linux host ett aite ee 14 10 1 Install PXA270 development toolchain 14 10 2 Connect host to target SSH and transfer files SCP 15 10 3 Run a movement sequence on the Memec Hexapod 16 TEL Reference Dot 17 l5 2 DU 0 0 0 id tenia cs 18 Figures Fig 1 The Phoenix Hexapod peti eret cr tne 3 Fig 2 Example of a csv file displayed in plain text 8 Fig 3 Pulse width and corresponding servo angles 8 Fig 4 The Phoenix Excel Program by K re Halvorsen 11 1 Introduction Avnet Memec is a major semiconductor components distributor with a specialized and highly technical line card They have a need to demonstrate the capabilities of the franchises on the line card to attract potential customer s interest and awareness A demonstration platform will be built based on the mechanics from the Phoenix Hexapod Robot from Lynxmotion see figure 1 for illustration It uses 18 servos 3 for each leg and is equipped with a standard servo controller board and a host controller board It is programmed through a serial bus or USB The first step in this thesis project
14. ces or import others Everything is stored in csv files Finally the Visual Sequencer generates Basic Atom code and programs the microcontrollers e Phoenix Excel Program is a Microsoft Excel spreadsheet made by the robot enthusiast K re Halvorsen It can be downloaded for free from Lynxmotion s website and is a big help for generating complex moving and walking sequences for hexapod robots PEP lets you position the robot in terms of x y and z coordinates and without having to position each servo one by one The spreadsheet also contains some pre made sequences for such as raise lower body rotations and various walking gaits After you are done making your sequences you still need the Visual Sequencer for generating the BASIC code and programming the microcontrollers 5 The first step replacing controller board Avnet Memec wants to have the BasicAtom Pro28 and its carrier board replaced with products from their own franchises They have chosen the board MBS270 from Mobisense Systems which is based on a Marvel PXA270 V2 processor The PXA270 offers a lot of development possibilities with its 520 Mhz ARM processor 64 MB SDRAM and 32 MB Flash It runs with Linux kernel 2 6 26 bringing high performance and much functionality to embedded applications It can communicate in many ways such as UART USB Bluetooth and Ethernet and it has a preinstalled video server to mention some of the features 5 1 Adapting electronics The
15. corresponding servo angles The SSC 32 commands needs to be formatted as follows Servo Move or Group Move ch P pw S lt spd gt ch P pw S lt gt T time cr ch Channel number in decimal 0 31 pw Pulse width in microseconds 500 2500 lt spd gt Movement speed in us per second for one channel Optional time Time in ms for the entire move affects all channels 65535 max Optional lt cr gt Carriage return character ASCII 13 Required to initiate action lt esc gt Cancel the current command ASCII 27 Servo Move Example 5 P1600 T1000 lt cr gt The example above will move servo number 5 to position 1600 It will take 1 second to complete the move regardless of how far the servo has to travel to reach the destination All commands are executed with a carriage return character ASCII 13 When calculating the correct pulse width we use the following equation PWM Value 0 degree PWM value degree value pos resolution where PWM value calculated pulse width in milliseconds 0 degree PWM value the pulse width when servos are centered 1500 ms degree value destination and positioning resolution 0 09 All angles in the csv files are in reference to the center of the servos P1500 i e the values in the csv files are the degree value in the equation above For example A position of 45 clockwise from center 1500 45 0 0
16. ed to use the circuit board MBS270 from Mobisense Systems based on the ARM processor Marvel PXA270 running Embedded Linux operating system The project was successful and resulted in a Phoenix Hexapod Robot with a new more powerful and versatile MCU from an Avnet Memec franchise The robot can run pre made movement sequences as with the old MCU but now with a much more powerful processor with support for features like wifi video acquisition and much more The robot was shown by Avnet Memec at the Scandinavian Electronics Event fair 2010 in Alvsjo Stockholm Sweden and was appreciated among visitors and other exhibitors Handledare Johan Enoksson Amnesgranskare Lars Ericsson Examinator Nora Masszi ISRN UTH INGUTB EX E 2010 02 SE Sammanfattning Avnet Memec en av v rldens st rsta distribut rer av halvledar komponenter har ett behov av att demonstrera kapaciteten hos sina leverant rers produkter F r att g ra detta vill de l ta styra en robot med produkter fr n Avnet Memecs leverant rer Roboten skall baseras p mekanik fr n den sexbenta The Phoenix Hexapod Robot fr n Lynxmotion som r r sig fram t med 18 servon styrda av tv mikrodatorer En av mikrodatorerna skall ers ttas med en mikrodator fr n Avnet Memecs leverant r Marvel I robotens originalutf rande kan den med befintlig programvara r ra sig enligt f rprogrammerade r relsem nster eller styras med en Playstation2 handkontroll M let med examensarbetet r a
17. enix Hexapod Robot The Phoenix Hexapod Robot is a mechanical vehicle that walks with six legs It has an aluminum body and is equipped with 18 servos three on each leg all controlled and synchronized by two controller boards Each leg has three degrees of freedom which gives the robot a great deal of flexibility in how it can move The robot is modular which allow you to choose among different servos and controller boards Our robot was initially equipped with e Basic Atom Pro28 M microcontroller e Bot Board carrier board for the Basic Atom e SSC 32 Servo Controller e HS 645MG Servos Neither one of the microcontrollers is delivered with software but Lynxmotion refers to Kare Halvorsen and Jeroen Janssen They are two robot enthusiasts and creators of software for controlling the hexapod robots with a Nintento Wii remote or a Playstation2 controller Halvorsen also offer some pre made movement sequences for download 10 4 Movement sequences A more or less official standard exists when it comes to storing movement sequences for hexapod robots Csv files with semicolon separated values are used to store angles for each and every servo in every step There are two major Windows program for handling these files e Lynxmotion Visual Sequencer is a Windows program for controlling up to 32 servos using the SSC 32 servo controller board The program which can be bought from Lynxmotion s website lets you make your own movement sequen
18. fics HM 1165270 v2 pdf Phoenix Excel Program manual at URL http www lynxmotion com images files PEPman pdf Sony playstation controller information at URL http www gamesx com controldata psxcont psxcont htm The GNU General Public License GPL version 2 at URL http www gnu org licenses old licenses 2 0 html Linux manual pages at URL http linux die net man SSC 32 users guide at URL http www lynxmotion com images data ssc 32 pdf RS 232 for linux and win32 Teunis van Beelen at URL http www teuniz net RS 232 index html PXA270 Developers manual by Intel at URL http www balloonboard org hardware 300 ds PXA270 dev manual pdf Halvorsen s phoenix3 movement sequence at URL http www lynxmotion com images files phoenix3 zi Direct Register Access SPI C Code For The PXA270 at URL http docwiki gumstix org Sample code C SPI 12 Jeroen Jansssen s code in mbasic for PS2 hand controll at URL http www lynxmotion com images files phoenix1 3 bas 17 12 Appendix Appendix 1 Extract from a csv file Appendix 2 Source code of our csv reader software Appendix 3 Article from Metro Teknik newspaper Appendix 4 Image of Phoenix Hexapod Robot 18 Appendix 1 Extract from a CSV file PROJECT SEQUENCE STEP PINO PIN1 PIN2 PINA4 PIN5 PIN6 PIN8 PIN9 PIN10 PIN16 PIN17 PIN18 PIN20 PIN21 PIN22 PIN24 PIN25 PIN26 TO T1 T2 T4 T5 T6 T8 T9 T10 T16 T17
19. he movement sequence autostart Automatically run movement sequences on startup PS2 controller Because the time ran out and we did not have time to complete the Third Step and implement the PS2 controller this is an obvious continuation Video acquisition The MBS270 comes with a preinstalled video server which makes it quite easy to transfer video Avnet Memec wish to send video wireless to a personal computer 13 10 HOWTO on a Linux host 10 1 Install PXA270 development toolchain You must be root to install the toolchain if you unpack it in any other location than your home directory cd if you want it to work for all users otherwise you can choose to install it in your home directory 5 cd if you want it to work only for you mkdir mbs toolchain cd mbs_toolchain Then install the toolchain by extracting all files S tar xvjf path to arm linux gnueabi tar bz2 x extract files from an archive v verbosely list files processed filter the archive through bzip2 use archive file or device ARCHIVE J f This creates a full toolchain tree in usr local arm oe home user mbs_toolchain usr local arm oe Now you need to include the usr local arm oe bin directory into your PATH PATH SPATH usr local arm oe bin PATH SPATH home user mbs toolchain usr local arm o e Put a statement like that into your shell startup file e g bashrc profile To test your toolchain ins
20. is to replace the standard host controller board with a board with a microcontroller from a Memec franchise Silabs Zilog Marvel The software for controlling and programming the Hexapod will need to be developed The second step will be to program the Hexapod with certain moving sequences that will be used for demonstration and promotion The third step is to develop features to the Hexapod such as connecting a playstation2 hand control camera to send and receive video over WLAN Ultrasound anti collision robot sound generation through loudspeaker This third step may include development and assembly of required hardware in case standard hardware is not available The priority is to make the hand control to work Disposable time for this project is 10 weeks for two people including writing this report Fig 1 The Phoenix Hexapod Robot 2 Aim of the project The company Avnet Memec wanted to demonstrate their components on a science fair with the help of the six legged Phoenix Hexapod Robot The microcontroller that was attached to the robot in the original setup was meant to be replaced with a small Linux based ARM computer from Mobisense Systems a computer which Avnet Memec s distributes The result that was desired by our employer was also to make the robot to be controlled by a Playstation hand controller and to make an automatic movement sequence that could attract customer to Avnet Memec s section at the fair 3 The Pho
21. k kck ck ck ck RK KKR ke ke ke f Include Files include lt stdio h gt required for file operations finclude string h requierd for string operations include rs232 h required for communication Definitions define PORT 1 com port define PAUS 3000 define BAUT 38400 define BUFSIZE 1000 const char CSV FILE phoenix3 moded csv Global Variables FILE fr declare the file pointer char cellptr declare cell pointer char buffer 15 char buffer2 15 int startValue char line BUFSIZE int data BUFSIZE int startCtr start counter skip first row int cellCtr cell counter char lnPtr int dtPtr data pointer char negFlag int k used in for loops int l1nIdx line array index int dtIdx data array index char flag int sNr servo number used in communication char powerOfTen int rowCtr mechanical limits int minAngles 18 26 101 106 53 101 106 58 101 106 74 95 77 53 95 T 74 95 qus int maxAngles 18 74 95 77 53 95 77 74 95 77 26 101 106 Appendix 2 Source code of our csv reader 2 5 53 101 106 58 101 106 Function Prototypes void init Initialize variables void clearAr
22. more complex when configuring this for the new processor with Embedded Linux where the registers have to be set by bitmasks Polarity and speed of the clock is also things you manually need to configure We tried to configure the SPI according to the PXA27x Developer s Manual 9 and modified a code written in C for the PXA 270 11 published in GPL After connecting the wires of the controller to the MBS270 and configuring the registers we never got any response from the controller as expected and we had to abandon this step because of lack of time Another student Hans Persson continued this in his thesis project 12 Results and conclusions The Hexapod now can read and run movement sequences stored in csv files We didn t have the time to make it to run automatically on startup so we need at this point execute the csv reader from the host via Ethernet to the target See section 10 3 for further instructions It was very difficult to estimate the amount of time needed for each part of the project and we didn t manage to accomplish all three steps completely Still this thesis became a success and The Memec Hexapod robot was eventually shown by Avnet Memec at the Scandinavian Electronics Event fair 2010 in lvsj Stockholm Sweden There it was alerted by visitors exhibitors and media see Appendix 4 which meant that Avnet Memec s and hence our goal of the thesis project was fulfilled Suggestions on further development Make t
23. n raise up and some pointing with the front legs This sequence together with a by us modified version of Halvorsen s Phoenix3 sequence 10 were developed In PEP you position each leg in terms of x y z coordinates and the program automatically calculates each servo csv value out of that and puts it in a csv file For more specific instructions on how to make movement sequences see the PEP user manual 3 10 5 e ipee 2 5 2 zo ee Boal Read Sequences 24 3 1 Sequence nr Fig 4 The Phoenix Excel Program created by Halvorsen The third step attaching a Playstation 2 controller The robot enthusiast Jeroen Janssen has written BASIC Atom Pro code 12 for controlling the Phoenix Hexapod with a Playstation2 controller Avnet Memec wants his solution to work with the PXA270 and to accomplish this we need to port Janssen s code His code is written in mbasic a programming language particular for the Basic Atom processor family We need to analyze and understand the mbasic code so we can program the same functionality for our processor We choose C as programming language in this step as well and besides the use of standard library functions for math and string operations we also need to communicate with the hardware in terms of using timers to calculate gait speed Janssen is counting tics per ms in his code when calculating movement speed 16 bit timers as found on the
24. n inviger sin viktigaste m ssa Scandinavian Electronics Event i Alvsj Lena Norder vd p branschorganisationen Svensk elektronik gt Scandinavian Electronics Event ska h llas vartannat r i Stockholm rets upp laga r den f rsta gt M ssan p g r den 13 15 april gt rets upplaga har 274 ut st llare gt Senaste m ssan av samma slag i Stockholm lockade 7 400 personer gt majoritet av utst llarna r komponentbolag Men ven testf retag inbyggda system och produktion finns representerade gt M ssan ordnas av bran schorganisationen Svensk Elektronik som har cirka 250 medlemsf retag Statssekreterare J ran H gglund satte stor tilltro till den svenska elektro nikbranschen n r han ig r invigde Scandinavian Electronics Event i lvsj Regeringens f rhoppning r att trenden med utflyttad elektronikproduktion och konstruktion ska v nda Visst har det funnits ett stort utfl de och folk som flyttat ut f r att g ra kortsiktiga vinster s ger J ran H gglund Kommentar Han tror att l gre skat tetryck i Sverige r en vik tig del f r att f kvalificera de arbeten att stanna Men minst lika viktigt r att vi intresserar ungdo mar att satsa p en teknik utbilding M ssan domineras an nars av underleverant rer till svensk industri som tar chansen att visa upp sig M ssan best r till tv femtedelar av komponent f retag s ger Mag
25. needed for making the robot run a sequence Before Hans Persson in his thesis project made it autostart 1 Connect the D sub connector marked S0 on the MBS270 to the SSC 32 Connect the MBS270 to your computer using RJ45 cable network Power up the MBS270 by connecting it to 3 5 4 2 Volt DC Open a terminal on your computer and move to the directory where you have your binary and csv file containing the movement sequence Assuming you have prepared your computer with SSH server mentioned in section 9 2 and set your ip to 192 168 1 1 type scp demo_run sequence csv root 192 168 1 95 var tmp When prompted for a password just hit enter This will copy the files demo_run and sequence csv into the var tmp directory on the MBS270 which is the main memory and will be gone next time you start the card Open a new terminal and type ssh root 192 168 1 95 When prompted for a password just hit enter cd var tmp Choose directory 15 List files in directory to see that they are there Run the program by typing demo run You will now be prompted to choose which file you want to run Type sequence csv hit enter and watch your robot take a dance 16 11 1 2 3 4 5 6 7 8 9 10 11 Reference list PXA270 Software manual at URL http www mobisensesystems com fics SM mbs270 v2 pdf PXA270 Hardware manual at URL http www mobisensesvstems com
26. nus NERVOSITET I LUFTEN Det ligger lite nervositet i luften p Stockholmsm s san i lvsj n r f rsta ver sionen av SEE drar i g ng Beh vs m ssor verkligen fortfarande Och har n gon tid att g efter bran schens besparingar F r sta dagen r det l ngt ifr n tr ngt p m ssgolvet trots att m s san r snygg och tillg ng lig f r att vara en traditio nell branschm ssa Eriksson som r projektle dare f r m ssan Han tror att m ssan fort farande har en funktion att fylla som m tesplats trots att mer information finns tillg nglig p andra s tt och att f nyheter presente ras p m ssan De facto vill folk kom ma och kl mma saker Men det kanske inte r li ka m nga varje f retag som beh ver g p en m s Sa METRO TEKNIK JONAS RYBERG NYHETSCHEF METRO TEKNIK www metroteknik se 14 20 APRIL 2010 WILL LEACH Johan Enokssons egenbyggda spindelrobot ska locka bes kare till Avnet Memecs monter p elektronikm ssan Sven fred s ljer Debattera f rsvarsindustrin p teknikdebatt se Nu startar debatten p allvar G in p teknikdebatt se och g r din r st h rd f svar av makthavarna och f lj de avg rande fr gorna f r din och Sveriges framtid Teknikdebatt se Sveriges nya sajt f r bransch och samh llsdebatt Teknikdebatt Sverige AB teknikdebatt se info teknikdebatt se Box 5247 102 45 Stockholm sk TEKNI
27. ray Clear reset arrays int limiter int pin int v check for mechanical limi Main Function main init clearArray fr fopen CSV FILE r open the file for reading while fgets line sizeof line fr NULL going through the file rowCtr reset pointers and index lnPtr line dtPtr data dtIdx 0 start going character by character through the line while lnPtr 0 if lnPtr amp amp startCtr startValue first wait startValue number of startCtr if startCtr startValue after startValue number of startValue 0 inactivate startCtr if lnPtr dtPtr dtIdx cellCtr if cellCtr gt 2 amp amp cellCtr lt 22 read only specific cells if lnPtr negFlag 1 if lnPtr gt 0 amp amp 1nPtr lt 9 if a digit if flag 1 flag 0 check size once per number Appendix 2 Source code of our csv reader 3 5 if line lnIdx 41 line lnIdx 1 powerOfTen U else if line lnIdx 2 line lnIdx 2 powerOfTen T else if line lnIdx 3 line lnIdx 3 powerOfTen H switch powerOfTen case H hundreds dtPtr lnPtr 48 100 powerOfTen T break case T tens dtPtr dtPtr lnPtr 48 10 power
28. ries needed for ARM architecture A linker is for the final step of the compilation and links the object files the system libraries and the start up files to create executable binaries See section 10 1 for detailed toolchain installation instructions 5 2 2 Transferring files using SSH and SCP SSH stands for secure shell and is a network protocol used for exchanging information between two devices over a network It uses public key cryptography and is mainly used in UNIX systems for executing commands from a remote machine in a shell on the target Secure Copy or SCP is based on the SSH protocol and is a way to securely transferring computer files between a local and a remote host We used SCP because this is an easy way to transfer files See section 10 2 for detailed instructions 5 23 Read the servo angles represented in a csv file We are going for a modular solution which means the csv files and the reading software are separated This lets you change csv files without recompiling your program Our csv handler software needs to manage three main things The first thing is to read the servo angles represented in a csv file The csv files generated from the Visual Sequencer and the Phoenix Excel Program both share the same structure They contain servo angles pin number servo number movement time project name sequence names step numbers and comments as shown in figure 2 Our software needs to 5 2 4 focus on what is relevant
29. tallation you can simply compile an empty file touch xyz c arm linux gnueabi gcc version c xyz c This should give you something like arm linux gnueabi gcc GCC 4 1 2 14 Cross compiling using gcc Now your system is ready to compile code for your PXA270 processor To do so just type the following to make an executable binary arm linux gnueabi gcc o nameofbinary file to compile c 10 2 Connect host to target SSH and transfer files SCP Below follows an instruction how to set up SSH and to use SCP Install openssh server as superuser etc init d ssh start iptables A INPUT p tcp dport ssh j ACCEPT ifconfig eth0 192 168 1 1 up ssh root 192 168 1 95 root8192 168 1 95 s password root mbs270 scp your file root 192 168 1 95 where to put it Environment If you like to have a dedicated directory to work in and have easy access to you can do the following mkdir p work mbs270 the p is for make both directories S export MBS270 work mbs270 This only make a temporary work environment if you want to make it permanent put it in your profile file Then you only have to type cd MBS270 to end up in your work directory For editing your code you can use your favorite editing tool If you don t have one yet you can use Eclipse Qtcreator Codelite or just a simple text editor 15 10 3 Run a movement sequence on the Memec Hexapod These are the steps
30. tt roboten skall fungera p samma s tt med den nya mikrodatorn fr n Marvel Ut ver detta vill Avnet Memec ocks l ta programmera en egen r relsesekvens Projektet delas upp i tre steg Ers ttning av h rdvara programmering av r relsesekvenser samt addering av diverse funktioner som t ex styrning med Playstation2 handkontroll De tv f rsta delarna utf rdes medan den sista inte hann slutf ras helt p grund av tidsbrist Roboten kunde med den nya mikrodatorn efter projektets slut r ra enligt den generella standarden f r r relsesekvenser hos Hexapoder och visades upp av Avnet Memec p Scandinavian Electronics Event 2010 i lvsj Table of contents l Introduction 000010 3 2 Aimof the pr j Ctsss nein menep anena e en mte 4 3 The Phoenix Hexapod Robot ha e eie 4 4 Movement Sequences m eia 5 5 first step replacing controller board 6 5 1 Adapting electronics se te U ed ui ud 6 5 2 Software deployrnenb seen ne erectas bee ro ESQ ptr Rab sin 7 5 21 Development toolchain eese 7 5 2 2 Transferring files using SSH and SCP 7 5 23 Read the servo angles represented in csv file 7 5 2 4 Convert data to 55C 32 format eet tetris 8 5 2 5 Send commands to the 55 92 10 6 second step programming moving sequences 10 7 third step attaching a Pl
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