how to get the basic e-league setup running.
There are several steps to getting the e-league running in your environment.
Note that the setup is based in the Linux environment.
In terms of HARDWARE (in addition to your robots), you will need:
- a computer with Linux installed (we've used Red Hat 7.1 and Debian Sid)
(we'll be posting an update with Red Hat 9 shortly...)
- a digital video camera
- a framegrabber card -- to capture the signal from the video camera and
send it to the computer (we've used Hauppauge bt878)
- an IR transmitter (we've used the communication tower that
comes with the LEGO Mindstorms kit, both serial and USB)
In terms of SOFTWARE, you will need to set up a number of components.
Here's a picture of how all the pieces fit together:
Here are the step-by-step instructions for setting up the software.
- Install the framegrabber card
and link it to /dev/video.
- Install the doraemon vision processing
Note that doraemon needs the following some libraries (SDL, SDL_image
and SGE), so in case you don't have them, you'll need to install them too.
- Install the SDL libraries.
- Install the SGE library.
Install the mezzanine vision processing software.
Mezzanine uses the GSL 0.9+ (Gnu Scientific Library) and GTK 1.2+ libraries.
Both libraries are readily available in package form, and can be installed painlessly with apt/yum/up2date.
- Install the LEGO USB tower driver and link it to /dev/usb/lego0.
- Install the cross compiler for the Hitach h8300 processor (aka, the LEGO RCX) (so you can write control programs to reside on your robots).
- Install Jacky's version of brickos (which contains a nice programming interface for the LEGO RCX).
- Download the brickos firmware onto the RCX (so that your robot will be able to interpret the brickos programs you write for it).
- Install and start up the command server (to send commands from your team process to your robot, in real-time).
You can test the connection from doraemon to a little program by
following the instructions here.
You can test the connection from a sample team process to the command
server and to the robot by following the instructions
Here's a link to a paper that describes some of the formats...
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