UserPreferences

SwarthmoreRobotDetails

Using the Pioneer Robot at Swarthmore

To connect to the Pioneer robot, you will first need to login into the private network (where USERNAME is replace with your userid):

ssh USERNAME@saffron

Be sure the Pioneer robot and its computer are turned on (there are two switches). When the robot is ready, it will beep loudly. Then from saffron login to the robot itself:

ssh pioneer@robot

Use RedRover as the password.

Place the robot out in an open area before you begin.
Once you're logged on to the robot, test that you can connect to it by starting up pyrobot and doing the following:

Select server PlayerServer and configuration pioneer.cfg
Select robot Player6665.py, once the connection is established you should hear the sonars engage
Select a brain, such as BBWander.py
Press the white button on the robot to enable the motors
Select Run to start the brain
Select Stop to stop the brain

To test your own program, from the terminal window that is connected to the robot, copy your program using:

scp USERNAME@allspice:FILENAME XXXFILENAME

where XXX is replaced with your initials. Since we will all be sharing the same account we don't want to overwrite anyone else's program.

Then execute pyrobot and redo the steps above, but this time when choosing a brain, press the "Home" button and then select the appropriate filename.
When you are done, from the Robot menu select Unload robot and then exit from pyrobot.

Up: Using the Pioneer Robot

Using the AIBO Robots at Swarthmore

To connect to the AIBO robots, you will first need to login into the private network (where USERNAME is replaced by your userid):

ssh USERNAME@saffron

From saffron, execute pyrobot and do the following:

Select robot Aibo.py and then choose the appropriate name (honey or splenda). You should hear the dog bark when the connection is established.
From the Load menu choose Devices and then AiboCamera.py. Make sure that in the devices section of the window that camera[0] is selected, then choose View to see the camera image.

Testing the AIBO camera:

Put one of the pink AIBO balls on the floor in front of the robot and then select the TrackBall.py brain. You should see a bounding box show up on at least a portion of the ball. If there is no bounding box, then the lighting conditions (or the filters) will need to be changed.
Once you have a bounding box, choose Run and the AIBO's head should adjust to try to center the ball in its view.

Testing AIBO movement:

Select the Joysitck.py brain.
Press Run, and then you can control the robot's movement by moving the virtual joystick with the mouse.

When you are done, from the Robot menu select Unload robot and then exit from pyrobot.

Up: Using the Sony AIBO Robot

Using the Khepera Robots at Swarthmore

To use the Khepera without a camera, log into tarragon. To use the Khepera with a camera, log into wasabi.
Then startup pyrobot and do the following:

Press the Robot button and select Khepera.py
If you are using the robot with a camera, from the Load menu choose Devices, and then select V4LCamera.py
Press the Brain button and select Avoid.py.
Press the Run button to make the robot move.

When you are done, from the Robot menu select Unload robot and then exit from pyrobot.

Up: Using the Khepera Robot