10
4.3
Power-up and test
The KSG module is switched ON when the Khepera IV robot is switched
ON. It starts autonomously sending position through the serial port, if it sees
a landmark.
4.3.1
Test
You can also launch the
kgazer_test
program (see chapter 4.4.2) or
test with the instructions below:
-
put the robot so that it can see landmarks (for placing landmarks,
see chapter 4.2.2).
-
after the robot is switched ON, you should see some red LED ON
inside the Stargazer, from its top window.
-
change ssh escape character on your PC . If it is ~, it will conflict
only with the Stargazer command for the test below, not for the
normal use of that manual for Linux, run:
sudo sh -c ‘echo “EscapeChar ^” >>/etc/ssh/ssh_config’
-
open a ssh connections terminal to the robot (see
Khepera IV User
Manual
).
-
run the following command to set the serial port the terminal:
stty -F /dev/ttyS2 115200 -parenb cs8 clocal -crtscts
cat /dev/ttyS2
=>
it should display lines like below without interruption if the robot
is under landmarks on the first terminal:
~^I560|+79.05|-10.94|-106.12|190.00`
~^I560|+79.05|-10.93|-106.11|190.00`
~^I560|+78.39|-10.97|-106.15|189.16`
~^I560|+79.05|-10.94|-106.15|190.00`
~^I560|+79.05|-10.94|-106.13|190.00`
~^I560|+79.05|-10.93|-106.12|190.00`
~^I560|+79.05|-10.93|-106.11|189.82`
The data is respectively landmark ID (560), angle (~79 deg), x
position (~-10cm), y position (~-106cm), height to landmark
(~190cm).
To stop, push keys
CTRL
and
C
together at the first terminal.
