2.1 Communicating with your Robot
To log in to the robot system, run a few simple tests and demos, and write your very first robot program, you must have at least a computer with a single text window. This can be a a MacIntosh™, a personal computer running Microsoft Windows™ or Microsoft Windows95™, a computer running X-Windows, etc. But RWI, Inc. recommends that you have a graphics-based console with multiple window capabilities. You’ll need an X-Windows server to use the BeeSoft graphical utilities, such as the BeeSoft Commander™ and the BeeSoft Simulator™.
An important note on Robot control... RWI, Inc. strongly recommends that you control your robot remotely — either via an RS-232 radio link or over an Ethernet™ connection — at all times. RWI, Inc. does not recommend, and will not support, either the use of PC keyboards, monitors and/or mice plugged directly into robots, or the operation of X-Windows on the robot’s internal computers. (It’s OK to run X on a B21's built-in console computer, of course.) It’s OK to use a PC keyboard as a temporary measure only while performing diagnostics or installing new hardware.
The computer on board your B14 robot has a name. If you have a B21, each of the computers
-- left and right -- has a separate name. If your B21 is equipped with a console computer on top (a laptop or notebook computer), that one has a name as well. Find out from your site administrator what your robot computer name(s) are and fill them in here:
Left computer name:___________________
Right computer name (B21 only): ___________________
Console computer name (B21 only): ____________________
You’ll need to know these names these names for the log in procedures described below. These names were either pre-selected by your site administrator, or were assigned at RWI. In the login procedures below, use your computer’s name wherever you see the notation <your-computer-name>.
2.1.1 Logging On
NOTE: Of the startup scenarios below, use the one that most closely matches the hardware you have for connecting to and communicating with your robot. In following these instructions, the actual text you will enter is represented in large type.
Login Scenario # 1: Serial Port Connected Directly to Robot over a Serial Cable Connection
This procedure connects your robot, across a serial cable, to your own computer that is running one of a number of terminal emulator programs. On a UNIX™ system, such as Linux, this would be something like minicom. On a computer running MS/DOS™, Microsoft Windows™, or Microsoft Windows95™, it might be something like Procomm™, terminal or HyperTerm.
1. Connect your own computer (the one running the terminal emulator) to your robot with an RS-232 cable set to 38400 baud, 8 data bits and one stop bit. The connection point is located on the top of your robot. If you have a B14, See Figure 1-4B; if you have a B21, see Figure 1-3C. If you have a B21, robot, connect the cable to the robot’s left computer port.
Important Note: See Figure 2-0 below for two correct configurations for your RS-232 cable. Use either configuration. Also, be sure to use an extra-long cable, as you will be having your robot move about during these Quick Start procedures.
3. Power up your own computer.
4. Start up your terminal emulator program on your computer
5. You will see a Login: prompt.
(Note: You may need to press <Enter> first to see the prompt.)
6. Log in on your terminal emulator window as user demo
8. You’ll see this prompt --> [demo @ <your-computer-name>]$
You are now logged into the robot’s onboard computer system.
Figure 2-0 - RS-232 Cable Configuration
Login Scenario #2: Robot With RS-232 Radio Link
As in the previous section ("Serial Port Connected Directly to Robot"), this procedure connects your robot to your own computer that is running one of a number of terminal emulator programs. But in this case, the connection is made using radio modems instead of a cable and null modem. On a UNIX™ system, such as Linux, this would be something like minicom. On a computer running MS/DOS™, Microsoft Windows™, or Microsoft Windows95™, it might be something like Procomm™, terminal or HyperTerm.
1. Get the other radio from its box; connect it to your own computer’s serial port.
2. Power up your own computer.
3. Start up your terminal emulator program on your computer
4. You will see a Login: prompt.
(Note: You may need to press <Enter> first to see the prompt.)
6. Switch on the robot’s onboard radio. (On the B21 robot, open the right rear door of the robot’s enclosure and flip the bottom right toggle switch in the bank of six toggle switches. See Figure 1-3D. On a B14, flip the rightmost of 4 toggle switches on top of the robot. See Figure 1-4B.)
7. Log in on your terminal emulator window as user demo
9. You’ll see this prompt --> [demo @ <your-computer-name>]$
You are now logged in the robot’s onboard computer system
Login Scenario # 3: Robot With Portable PC Already Installed: B21 Robot with Console Computer Only
This procedure lets you log on to the console computer installed on your robot. This procedure applies to the B21 robot only.
2. Power up the console computer. (Flip the toggle switch just below the main power switch on the front of the right strut on top of the robot. Then, press the power button on the console computer itself, just above the keyboard.)
3. Log in to the console computer on the robot as user demo
6. In that window, telnet <your-computer-name>
7. In the telnet window, login as user demo
9. You’ll see this prompt --> [demo @ <your-computer-name>]$
You are now logged into the robot’s onboard computer system.
If you are using a UNIX™ system that does NOT have BeeSoft pre-installed, see the Reference sections in the back of this Manual that tell you, 1) how to set up your environment to run BeeSoft; and 2) how to install BeeSoft.
