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3
_sources/faq.rst.txt
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@ -10,3 +10,6 @@ Wie verbinde ich mich zur Entwicklungsumgebung?
See :ref:`gettingstarted_codeserver`
Was ist der Benutzername und das Passwort für den Raspberry Pi?
---------------------------------------------------------------
``compair`` ``compair``

4
_sources/index.rst.txt
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@ -7,8 +7,8 @@ Dokumentation des Roboters
:maxdepth: 2
:caption: Contents:
Contents
*********
Inhalt
******
.. toctree::
:maxdepth: 1

10
_sources/lib/classes/Encoder.rst.txt Normal file
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@ -0,0 +1,10 @@
.. _lib_encoder:
Encoder
*******
Dokumentation der Klasse
========================
.. autoclass:: compLib.Encoder.Encoder
:members:

10
_sources/lib/classes/IRSensor.rst.txt Normal file
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@ -0,0 +1,10 @@
.. _lib_irsensor:
Infrarot Sensoren
*****************
Dokumentation der Klasse
========================
.. autoclass:: compLib.IRSensor.IRSensor
:members:

51
_sources/software/installation.rst.txt
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@ -3,10 +3,57 @@
Installationsanweisungen
########################
Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen. Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.
Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen.
**Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.**
Betriebssystem aufsetzen
========================
Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden.
Genauere Informationen sind `hier <https://www.raspberrypi.com/software/operating-systems/>`_ zu finden.
Genauere Informationen sind `hier <https://www.raspberrypi.com/software/operating-systems/>`_ zu finden.
Bearbeiten der boot-Partition
=============================
1. ``cmdline.txt``
::
console=tty1 root=PARTUUID=21e60f8c-02 rootfstype=ext4 fsck.repair=yes rootwait quiet init=/usr/lib/raspi-config/init_resize.sh
Stellen Sie sicher, dass die folgenden Einstellungen in der ``config.txt`` korrekt gesetzt sind
2. ``config.txt``
::
# SPI
dtparam=spi=on
dtoverlay=spi1-3cs
# Run in 64-bit mode
arm_64bit=1
[all]
[pi4]
# Run as fast as firmware / board allows
arm_boost=1
[all]
start_x=1
gpu_mem=128
dtoverlay=pi3-disable-bt
enable_uart=1
3. Erstellen der leeren Datei ``ssh``, damit ssh beim nächsten Start aktiviert wird
4. Hinzufügen der ``userconf.txt``
::
compair:$6$eh2pkHm18RgYtwiG$PoeabVCH8llbyIio66OefPGXZ2r2BRI2hPHIdkNTBjmiR0lGXsozGyLx0uViOx3bi998syXjSDXkwt0t3x8Bq.
5. Wlan Verbindung einrichten

5
faq.html
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@ -88,6 +88,7 @@
<li class="toctree-l1 current"><a class="current reference internal" href="#">FAQ</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#was-ist-das-passwort-fur-die-entwicklungsumgebung">Was ist das Passwort für die Entwicklungsumgebung?</a></li>
<li class="toctree-l2"><a class="reference internal" href="#wie-verbinde-ich-mich-zur-entwicklungsumgebung">Wie verbinde ich mich zur Entwicklungsumgebung?</a></li>
<li class="toctree-l2"><a class="reference internal" href="#was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi">Was ist der Benutzername und das Passwort für den Raspberry Pi?</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="other/usage.html">Beispiele</a></li>
@ -167,6 +168,10 @@
<h2>Wie verbinde ich mich zur Entwicklungsumgebung?<a class="headerlink" href="#wie-verbinde-ich-mich-zur-entwicklungsumgebung" title="Link zu dieser Überschrift"></a></h2>
<p>See <a class="reference internal" href="gettingStarted/codeServer.html#gettingstarted-codeserver"><span class="std std-ref">Programmierumgebung</span></a></p>
</div>
<div class="section" id="was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi">
<h2>Was ist der Benutzername und das Passwort für den Raspberry Pi?<a class="headerlink" href="#was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi" title="Link zu dieser Überschrift"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">compair</span></code> <code class="docutils literal notranslate"><span class="pre">compair</span></code></p>
</div>
</div>

48
genindex.html
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@ -153,11 +153,43 @@
<h1 id="index">Stichwortverzeichnis</h1>
<div class="genindex-jumpbox">
<a href="#M"><strong>M</strong></a>
<a href="#D"><strong>D</strong></a>
| <a href="#E"><strong>E</strong></a>
| <a href="#I"><strong>I</strong></a>
| <a href="#M"><strong>M</strong></a>
| <a href="#P"><strong>P</strong></a>
| <a href="#R"><strong>R</strong></a>
| <a href="#S"><strong>S</strong></a>
</div>
<h2 id="D">D</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/IRSensor.html#compLib.IRSensor.IRSensor.disable">disable() (statische Methode von compLib.IRSensor.IRSensor)</a>
</li>
</ul></td>
</tr></table>
<h2 id="E">E</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/IRSensor.html#compLib.IRSensor.IRSensor.enable">enable() (statische Methode von compLib.IRSensor.IRSensor)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/Encoder.html#compLib.Encoder.Encoder">Encoder (Klasse in compLib.Encoder)</a>
</li>
</ul></td>
</tr></table>
<h2 id="I">I</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/IRSensor.html#compLib.IRSensor.IRSensor">IRSensor (Klasse in compLib.IRSensor)</a>
</li>
</ul></td>
</tr></table>
<h2 id="M">M</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
@ -186,6 +218,20 @@
</ul></td>
</tr></table>
<h2 id="R">R</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/IRSensor.html#compLib.IRSensor.IRSensor.read_all">read_all() (statische Methode von compLib.IRSensor.IRSensor)</a>
</li>
</ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="lib/classes/Encoder.html#compLib.Encoder.Encoder.read_all_positions">read_all_positions() (statische Methode von compLib.Encoder.Encoder)</a>
</li>
<li><a href="lib/classes/Encoder.html#compLib.Encoder.Encoder.read_all_velocities">read_all_velocities() (statische Methode von compLib.Encoder.Encoder)</a>
</li>
</ul></td>
</tr></table>
<h2 id="S">S</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%; vertical-align: top;"><ul>

4
index.html
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@ -156,8 +156,8 @@
<h1>Dokumentation des Roboters<a class="headerlink" href="#dokumentation-des-roboters" title="Link zu dieser Überschrift"></a></h1>
<div class="toctree-wrapper compound">
</div>
<div class="section" id="contents">
<h2>Contents<a class="headerlink" href="#contents" title="Link zu dieser Überschrift"></a></h2>
<div class="section" id="inhalt">
<h2>Inhalt<a class="headerlink" href="#inhalt" title="Link zu dieser Überschrift"></a></h2>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="gettingStarted/index.html">Erste Schritte</a></li>

257
lib/classes/Encoder.html Normal file
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@ -0,0 +1,257 @@
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<html class="writer-html5" lang="de" >
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<div class="section" id="encoder">
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Link zu dieser Überschrift"></a></h1>
<div class="section" id="dokumentation-der-klasse">
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Link zu dieser Überschrift"></a></h2>
<dl class="py class">
<dt id="compLib.Encoder.Encoder">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Encoder.</code><code class="sig-name descname">Encoder</code><a class="headerlink" href="#compLib.Encoder.Encoder" title="Link zu dieser Definition"></a></dt>
<dd><p>Klasse zum Zugriff auf die Encoder der einzelnen Motoren</p>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read_all_positions">
<em class="property">static </em><code class="sig-name descname">read_all_positions</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_positions" title="Link zu dieser Definition"></a></dt>
<dd><p>Lesen aller absoluten Positionen der einzelnen Encoder</p>
<dl class="field-list simple">
<dt class="field-odd">Rückgabe</dt>
<dd class="field-odd"><p>Tupel mit allen aktuellen Encoderpositionen</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Encoder.Encoder.read_all_velocities">
<em class="property">static </em><code class="sig-name descname">read_all_velocities</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_velocities" title="Link zu dieser Definition"></a></dt>
<dd><p>Lesen der Geschwindigkeit aller angeschlossenen Motoren.</p>
<dl class="field-list simple">
<dt class="field-odd">Rückgabe</dt>
<dd class="field-odd"><p>Tupel aller aktuellen Motorgeschwindigkeiten in Radianten pro Sekunde</p>
</dd>
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<div class="section" id="infrarot-sensoren">
<span id="lib-irsensor"></span><h1>Infrarot Sensoren<a class="headerlink" href="#infrarot-sensoren" title="Link zu dieser Überschrift"></a></h1>
<div class="section" id="dokumentation-der-klasse">
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Link zu dieser Überschrift"></a></h2>
<dl class="py class">
<dt id="compLib.IRSensor.IRSensor">
<em class="property">class </em><code class="sig-prename descclassname">compLib.IRSensor.</code><code class="sig-name descname">IRSensor</code><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Link zu dieser Definition"></a></dt>
<dd><p>Ermöglicht den Zugriff auf die einzelnen IRSensoren des Roboters</p>
<dl class="py method">
<dt id="compLib.IRSensor.IRSensor.disable">
<em class="property">static </em><code class="sig-name descname">disable</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.disable" title="Link zu dieser Definition"></a></dt>
<dd><p>Deaktivieren der Infrarot-Sender</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRSensor.IRSensor.enable">
<em class="property">static </em><code class="sig-name descname">enable</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.enable" title="Link zu dieser Definition"></a></dt>
<dd><p>Aktivieren Infrarot-Sender. Muss bei jedem Programmstart ausgeführt werden.</p>
</dd></dl>
<dl class="py method">
<dt id="compLib.IRSensor.IRSensor.read_all">
<em class="property">static </em><code class="sig-name descname">read_all</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read_all" title="Link zu dieser Definition"></a></dt>
<dd><p>Auslesen aller Sensoren gleichzeitig</p>
<dl class="field-list simple">
<dt class="field-odd">Rückgabe</dt>
<dd class="field-odd"><p>Array aller Sensorwerte</p>
</dd>
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<li class="toctree-l2"><a class="reference internal" href="Encoder.html">Encoder</a></li>
<li class="toctree-l2"><a class="reference internal" href="IRSensor.html">Infrarot Sensoren</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">Motoren</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#dokumentation-der-klasse">Dokumentation der Klasse</a></li>
<li class="toctree-l3"><a class="reference internal" href="#genauere-informationen">Genauere Informationen</a><ul>
@ -320,7 +322,7 @@ Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum anere
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="../index.html" class="btn btn-neutral float-left" title="compLib" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Zurück</a>
<a href="IRSensor.html" class="btn btn-neutral float-left" title="Infrarot Sensoren" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Zurück</a>
</div>

14
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@ -36,7 +36,7 @@
<link rel="index" title="Stichwortverzeichnis" href="../genindex.html" />
<link rel="search" title="Suche" href="../search.html" />
<link rel="next" title="Motoren" href="classes/Motor.html" />
<link rel="next" title="Encoder" href="classes/Encoder.html" />
<link rel="prev" title="Beispiele" href="../other/usage.html" />
</head>
@ -88,6 +88,8 @@
<li class="toctree-l1"><a class="reference internal" href="../faq.html">FAQ</a></li>
<li class="toctree-l1"><a class="reference internal" href="../other/usage.html">Beispiele</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">compLib</a><ul>
<li class="toctree-l2"><a class="reference internal" href="classes/Encoder.html">Encoder</a></li>
<li class="toctree-l2"><a class="reference internal" href="classes/IRSensor.html">Infrarot Sensoren</a></li>
<li class="toctree-l2"><a class="reference internal" href="classes/Motor.html">Motoren</a></li>
</ul>
</li>
@ -160,6 +162,14 @@
<h1>compLib<a class="headerlink" href="#complib" title="Link zu dieser Überschrift"></a></h1>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="classes/Encoder.html">Encoder</a><ul>
<li class="toctree-l2"><a class="reference internal" href="classes/Encoder.html#dokumentation-der-klasse">Dokumentation der Klasse</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="classes/IRSensor.html">Infrarot Sensoren</a><ul>
<li class="toctree-l2"><a class="reference internal" href="classes/IRSensor.html#dokumentation-der-klasse">Dokumentation der Klasse</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="classes/Motor.html">Motoren</a><ul>
<li class="toctree-l2"><a class="reference internal" href="classes/Motor.html#dokumentation-der-klasse">Dokumentation der Klasse</a></li>
<li class="toctree-l2"><a class="reference internal" href="classes/Motor.html#genauere-informationen">Genauere Informationen</a><ul>
@ -185,7 +195,7 @@
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="classes/Motor.html" class="btn btn-neutral float-right" title="Motoren" accesskey="n" rel="next">Weiter <span class="fa fa-arrow-circle-right"></span></a>
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@ -86,6 +86,7 @@
<li class="toctree-l1"><a class="reference internal" href="../gettingStarted/index.html">Erste Schritte</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Installationsanweisungen</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#betriebssystem-aufsetzen">Betriebssystem aufsetzen</a></li>
<li class="toctree-l2"><a class="reference internal" href="#bearbeiten-der-boot-partition">Bearbeiten der boot-Partition</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../faq.html">FAQ</a></li>
@ -158,12 +159,57 @@
<div class="section" id="installationsanweisungen">
<span id="software-installation"></span><h1>Installationsanweisungen<a class="headerlink" href="#installationsanweisungen" title="Link zu dieser Überschrift"></a></h1>
<p>Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen. Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.</p>
<p>Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen.</p>
<p><strong>Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.</strong></p>
<div class="section" id="betriebssystem-aufsetzen">
<h2>Betriebssystem aufsetzen<a class="headerlink" href="#betriebssystem-aufsetzen" title="Link zu dieser Überschrift"></a></h2>
<p>Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden.
Genauere Informationen sind <a class="reference external" href="https://www.raspberrypi.com/software/operating-systems/">hier</a> zu finden.</p>
</div>
<div class="section" id="bearbeiten-der-boot-partition">
<h2>Bearbeiten der boot-Partition<a class="headerlink" href="#bearbeiten-der-boot-partition" title="Link zu dieser Überschrift"></a></h2>
<ol class="arabic simple">
<li><p><code class="docutils literal notranslate"><span class="pre">cmdline.txt</span></code></p></li>
</ol>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">console</span><span class="o">=</span><span class="n">tty1</span> <span class="n">root</span><span class="o">=</span><span class="n">PARTUUID</span><span class="o">=</span><span class="mf">21e60</span><span class="n">f8c</span><span class="o">-</span><span class="mi">02</span> <span class="n">rootfstype</span><span class="o">=</span><span class="n">ext4</span> <span class="n">fsck</span><span class="o">.</span><span class="n">repair</span><span class="o">=</span><span class="n">yes</span> <span class="n">rootwait</span> <span class="n">quiet</span> <span class="n">init</span><span class="o">=/</span><span class="n">usr</span><span class="o">/</span><span class="n">lib</span><span class="o">/</span><span class="n">raspi</span><span class="o">-</span><span class="n">config</span><span class="o">/</span><span class="n">init_resize</span><span class="o">.</span><span class="n">sh</span>
</pre></div>
</div>
<p>Stellen Sie sicher, dass die folgenden Einstellungen in der <code class="docutils literal notranslate"><span class="pre">config.txt</span></code> korrekt gesetzt sind</p>
<ol class="arabic simple" start="2">
<li><p><code class="docutils literal notranslate"><span class="pre">config.txt</span></code></p></li>
</ol>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="c1"># SPI</span>
<span class="n">dtparam</span><span class="o">=</span><span class="n">spi</span><span class="o">=</span><span class="n">on</span>
<span class="n">dtoverlay</span><span class="o">=</span><span class="n">spi1</span><span class="o">-</span><span class="mi">3</span><span class="n">cs</span>
<span class="c1"># Run in 64-bit mode</span>
<span class="n">arm_64bit</span><span class="o">=</span><span class="mi">1</span>
<span class="p">[</span><span class="nb">all</span><span class="p">]</span>
<span class="p">[</span><span class="n">pi4</span><span class="p">]</span>
<span class="c1"># Run as fast as firmware / board allows</span>
<span class="n">arm_boost</span><span class="o">=</span><span class="mi">1</span>
<span class="p">[</span><span class="nb">all</span><span class="p">]</span>
<span class="n">start_x</span><span class="o">=</span><span class="mi">1</span>
<span class="n">gpu_mem</span><span class="o">=</span><span class="mi">128</span>
<span class="n">dtoverlay</span><span class="o">=</span><span class="n">pi3</span><span class="o">-</span><span class="n">disable</span><span class="o">-</span><span class="n">bt</span>
<span class="n">enable_uart</span><span class="o">=</span><span class="mi">1</span>
</pre></div>
</div>
<ol class="arabic simple" start="3">
<li><p>Erstellen der leeren Datei <code class="docutils literal notranslate"><span class="pre">ssh</span></code>, damit ssh beim nächsten Start aktiviert wird</p></li>
<li><p>Hinzufügen der <code class="docutils literal notranslate"><span class="pre">userconf.txt</span></code></p></li>
</ol>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>compair:$6$eh2pkHm18RgYtwiG$PoeabVCH8llbyIio66OefPGXZ2r2BRI2hPHIdkNTBjmiR0lGXsozGyLx0uViOx3bi998syXjSDXkwt0t3x8Bq.
</pre></div>
</div>
<ol class="arabic simple" start="5">
<li><p>Wlan Verbindung einrichten</p></li>
</ol>
</div>
</div>