How I got the Scribbler 2 robot with a Fluke 2 board working on Mac OS X

Resources

Steps

  1. Start-up Guide (shipped with Scribbler II) – Play around with the demo modes. I couldn’t try the USB interface because I didn’t buy the USB-to-serial converter…oops. However, the Fluke 2 board obviates the need for it.
  2. Follow the instructions at the IPRE wiki to download and install Calico (a framework for programming).
  3. Follow the instructions at http://quantumprogress.wordpress.com/2013/06/19/modeling-and-robots-on-a-mac/ to set up bluetooth.
  4. Do a firmware upgrade.
    I had trouble creating a custom tty port to use, so I left my original “/dev/tty.Fluke2-05FB-Fluke2” and in the terminal typed:

    cd /dev
    sudo ln -s tty.Fluke2-05FB-Fluke2 tty.scribbler
    

    You will need to replace “05FB” with whatever you see when you type ls -l /dev/tty.* from Terminal.app. Then I could type in the StartCalico.app:

    from firmwareupgrade import *
    upgrade("fluke", port="/dev/tty.scribbler")
    upgrade("scribbler")
    
  5. Initialize the robot (from the StartCalico.app using Myro):
    from Myro import *
    init("/dev/tty.scribbler") 
    

Now, according to Matt Greenwolfe, the next step is to write low-level movement routines that use the wheel encoders.

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