Establish communication with EPOS from C++ library

hmartiro / project-thesis

xJüs, the hexapodal robot with a passive-backbone to improve behavior over harsh terrain.

4 stars 2 forks source link

Establish communication with EPOS from C++ library #54

Closed hmartiro closed 11 years ago

hmartiro commented 11 years ago

not yet on beagleboard, don't want to try it on there until we have it all figured out w/ a laptop

need to get eclipse to compile the project successfully, then connect with a controller and get it to move

@PayneTrain

hmartiro commented 11 years ago

Steps to set up environment:

Downloads: Eclipse CDT (C++) ia32-libs libftd2xx g++ g++-multilib

Need to add -m32 flag to g++ compiler and linker.
Need to include the directory of the libEposCmd.so file in the library path of Eclipse and include "EposCmd" under libraries, with no path.
Need ftd2xx files configured as shown in EPOS PDF and additionally added to Eclipse runtime environment as a variable if it can't find the shared library at runtime.

hmartiro commented 11 years ago

Was able to setup the environment and compile successfully calling the VCS_OpenDevice function. Next step is to actually plug in the controller and see if it is initialized (device doesn't equal zero for whatever USB port it's in).

hmartiro commented 11 years ago

on the linux VM, I'm having permissions issues when writing to USB. When I run the program it detects which USB the EPOS is connected to but it can't write to it and libusb gives an error. I tried playing with the udev rules based on the PDF and research on the internet, but couldn't get the error to go away.

hmartiro commented 11 years ago

Permissions issues are solved (I think), but communication is not established. When the EPOS is plugged in, the error given is Error opening port. When it is not plugged in, the error given is Error configuring port settings. This shows that the library is detecting the EPOS but cannot establish communication for some reason.

Probably time to open up a ticket w Maxon. Also working on downloading qt to try to run their example program. Trying to follow the instructions here, but didn't work so well.

PayneTrain commented 11 years ago

Opened issue (17757) through Maxon site after USB "Error opening port" communication error

hmartiro commented 11 years ago

solved!

PayneTrain commented 11 years ago

Note this was solved by updating libEpos to version 4.9.1.0