vsasr_linux

README in Japanese/日本語解説記事:http://cryborg.hatenablog.com/entry/2016/09/04/153224

C/C++ samples for Linux to manipulating Vstone VS-ASR robot.

Vstone Academic Scara Robot VS-ASR
https://www.vstone.co.jp/products/scara_robot/index.html

This software includes the work that is distributed in https://www.vstone.co.jp/products/scara_robot/download.html#03-3

Description

position_to_axis

Linux version of the PositionToAxis sample for Windows.
You can move the robot's arm by setting target xyz-position, yaw and width of crew.

get_position

This sample works almost the same with the GetMotorAxis sample for Windows, but the controller functions are implemented with a class.
You can get the robot's current xyz-position, yaw and width of crew with 60 Hz.

Requirements

• Ubuntu 16.04
• cmake 3.5.1
• Silicon Labs CP2110/4 SDK v1.31
  • The author found that the latest SDK v6.7.2 is not suitable for the VS-ASR robot. The communication rate with the robot would be limited to about 1Hz under the SDK v6.7.2.
  • The version of the SDK is found on Release Notes.

Usage

Installation - CP2110/4 HID USB-to-UART SDK v1.31

1. Download old SDK(v1.31) for linux.

• Add execute permission to it, and run.
  • chmod 755 CP2110_4_linux.bin
  • ./CP2110_4_Linux.bin
• Install to default directory ~/Silabs/MCU.
• Unlink useless symbolic links.
  • unlink CP2110_4 Device Customization Utility (AN721)
  • unlink Uninstall CP2110_4 Software Development Kit
  • If you want to uninstall, just remove ~/Silabs directory.
• Copy includes and libraries.
  • Make /usr/local/include/silabs and /usr/local/lib/silabs directories.
  • Copy ~/Silabs/MCU/CP2110_4_SDK/Library/Linux/*.h files to /usr/local/include/silabs.
  • Copy ~/Silabs/MCU/CP2110_4_SDK/Library/Linux/libslabhidtouart.so.1.0 to /usr/local/lib/silabs.
• Generate two symblic links of .so file.
  • cd /usr/local/lib/silabs
  • sudo ln -s libslabhidtouart.so.1.0 libslabhidtouart.so.1
  • sudo ln -s libslabhidtouart.so.1.0 libslabhidtouart.so

Build

1. git clone https://github.com/cryborg21/vsasr_linux.git

• cd vsasr_linux
• mkdir build
• cd build
• cmake ../
• make
• Two executables position_to_axis,get_position will be generated to your vsasr_linux/build directory.

Run

Permit access to the usb device.

1. Connect the robot with your computer via USB.

• Check the USB Bus and Device number that the robot connected.
  • lsusb
  • You will find the line like:
    • > Bus 001 Device 007: ID 10c4:ea80 Cygnal Integrated Products, Inc. CP210x UART Bridge
    • In this case, your robot is connected to USB Bus 001, Device 007. These numbers would be alterd depending on your environment.
• Permit read/write access to the device.
  • cd /dev/bus/usb/001
  • sudo chmod 666 007

If you did not permit access to the usb, you need to run executables with sudo.

• Run position_to_axis

  • ./position_to_axis

• Run get_position: you must set the num of servos as argument.

  • ./get_position 3 or ./get_position 5

Author

@cryborg21
Copyright (c) 2016 @cryborg21