====== Wireless programming ======
The technical solution description and a user manual for wireless programming of Distance Lab.
===== Quick Guide =====

**The Robot**
  * Load Wireless_bootloader with a program called HapyJTAG2
  * Check FuseBits –if Boot vector is enabled 
  * Fusebits: 90 F7
  * Check configuration of the XBee\\

**Distancelab Server **
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Loading the code:
<code>
./robocop -r [robot’s number] -f [the hex file name]
./robocop -r 3 -f atmega2561_demo.hex 
</code>
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Creating reset\\
<code>
./robocop -r [robot’s number] -R
./robocop -r 3 -R
</code>
\\
Reading the ADC inputs:
<code>
./robocop -r [robot’s number] -a -i [interval (1/10 s)] -n [numbers of readings]
./robocop -r 2 -a -i 1 -n 10
</code>
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**In webserver**
<code>
</code>

===== Detailed manual =====
RoboCop is Linux based client program for Distancelab robots, it uses if necessary RobotLoader and RobotCharger. The RobotLoader contains bootloader, as the RobotLoader contains a charging program.\\

{{:et:distancelab:robotite_haldamine.png?330|}}\\
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Some of the opportunities offered by RoboCop
  * Loading the new .hex file to the robot
  * XBee pin configuration
  * Displaying  ADC values on console and saving them on User harddrive in .txt format   
  * Robot’s wireless module configuration check, check is done wireless
  * Configuration of the robot’s wireless module, check is done wireless
  * Monitoring the state of the robot and sending it to charge 
  * Refreshing the info about robots in the Distancelab webpage \\
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RoboLoader or wireless bootloader
  * Takes into account possible errors arising from the radio communication 
  * Sends the data by blocks
  * Checks the data blocks accuracy with checksum
  * In case of error, sends the data again
  * Has a reasonabe  delays \\
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RoboCharger also wireless charging program
  * Contains algorithm for finding the charger
  * Identifies the beginning of the charging cycle
  * Identifies the end of the charging cycle
  * Releases the charging station\\

{{:et:distancelab:skeem.jpg?330|}}

**Robocopi oleku kontroll**
    *Pärib baasist robotite loetelu, olekud, seadistused ...
    *Kontrollib iga roboti aku pinget, temperatuuri
    *Vajadusel muudab roboti olekut (DIO4) active -> charge
    *Saadab roboti laadima, laeb robotisse RoboCharger programmi 
    *Muudab roboti olekut Kauglabori veebikeskkonnas
    *Salvestab (ADC) parameetrid, analüüsi (graafikute) tarbeks.

**RoboCharger**
    *Contains algorithm for seeking the charging station
    *Detects the beginning of charging *
    *Takse charging time in consideration just in case if chargind doesn't  end
    *Checks the tempriture of the batteries, it’s also done by RoboCop
    *Detects the end of charging cycle, free’s the charging station in a program
    *Changes the robot status charge -> active

==== Use of RoboCop====

Usage: robocop [options]

General options:\\
  * -r remote 16 bit address\\
  * -f <hexfile.hex>      flash robot\\
  * -R reset robot\\
  * -m maintenance (check batteries)\\

GPIO options\\
  * -g gpio num\\
  * -v gpio value (0|1)\\

ADC options\\
  * -a read adc0 value\\
  * -n <number> read number of samples\\
  * -i <seconds> interval between samples\\
  * -A all ADC's\\

Diagnostics options\\
  * -c check remote XBee configuration\\
  * -F fix remote XBee configuration\\
  * -m test MySQL connectivity\\

** Uploading the code**

-r3 = robot’s 16 bit address
<code>
./robocop -r [robot’s number] -f [hex fail name]
./robocop -r 3 -f atmega2561_demo.hex 
</code>
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**Using the ADC  **
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Reading the ADC inputs:
<code>
./robocop -r [robot’s number] -a
./robocop -r 3 -f -a 
</code>
\\
Monitoring battery level
<code>
./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)]
./robocop -r 3 -a -n 100 -i 1
</code>
There will be 100 readings, taken in every 0.1 second, in a console
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All input ADC readings

<code>
./robocop -r [robot’s number] -a -n [numbers of readings] -i [interval (1/10 s)] -A
./robocop -r 3 -a -n 100 -i 1 -A
</code>
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**Other operations**\\
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XBee configuration control

<code>
./robocop -r [robot’s number] -c
./robocop -r 3 -c
</code>
\\
Improving the XBee configuration

<code>
./robocop -r [robot’s number] -F
./robocop -r 3 -F
</code>
\\
Creating reset

<code>
./robocop -r [robot’s number] -R
./robocop -r 3 -R
</code>
\\
GIPO pin configuration

<code>
./robocop -r [robot’s number] -g [pin number] -v [1|0]
./robocop -r 3 -g 4 -v 1
</code>
g4 is XBee pin DIO4 and v1 means this pin is set to high\\
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**Locking**\\
Using multiple RoboCop program is not a problem. User will wait in gueue until robot is free or time run’s out.