Ohayden at 03:36, 9 June 2009

2009-06-09T03:36:17Z

New page

[[Category:HouseRobot|I]]
= TODO =
Remove bluetooth from kernel: http://www.nabble.com/Suppressing-bluetooth-td15523810.htm or simply mv /etc/init.d/bluetooth /etc/init.d/bluetooth.flc

= Initial Setup Procedures =
== Hardware ==
*PWM 1A = Servo (Ground / Black wire on the outside facing away from Robostix and yellow wire closer to Robostix)
*PWM 1B = H-Bridge left motor
*PWM 1C = H-Bridge right motor

*PWM 3C = Buzzer

*AD 7 = Sonar (Ground wire on the outside facing away from Robostix and AN wire closer to Robostix)

== Gumstix/Verdex Build Environment ==
This guide was adapted from: http://www.gumstix.net/Software/cat/Software-verdex-pro/111.html

* Using VirtualBox, I installed a Debian (Standard system and no Desktop environment) for my build environment (100GB hd, hostname:robodev, shared folder named "share")

=== Install Guess Additions and Add a Share ===
su
apt-get install build-essential linux-headers-`uname -r`
* On VirtualBox, click Devices->Install Guess Additions
mount /dev/cdrom /media/cdrom
/media/cdrom/VBoxLinuxAdditions-x86.run
mkdir /media/share
mount -t vboxsf share /media/share

=== Get Misc Tools ===
* Install screen to help with scrollback and reconnecting from anywhere
apt-get install screen ssh
* Change options for ssh daemon
vim /etc/ssh/sshd_config
* Find PermitRootLogin and set to no, as such:
<pre>
PermitRootLogin no
</pre>
* Set options for screen
<CTRL+D>
vim ~/.screenrc
* Add the following:
<pre>
startup_message off
defscrollback 3000
</pre>

=== Install Psyco for Faster Builds ===
svn co http://codespeak.net/svn/psyco/dist/ psyco-dist
cd psyco-dist
su
python setup.py install

=== Setup Build Environment ===
* Install required packages for build environment
apt-get install help2man gawk diffstat libncurses5-dev zlib1g-dev bison cvs flex texi2html autoconf python-dev python-pysqlite2 bitbake subversion
* Log out from root and back in as your <user account>
<CTRL+D>
* The directory needs to be "gumstix", otherwise you'll have to modify .bashrc
mkdir gumstix
cd gumstix
* Do the initial checkout
svn co https://gumstix.svn.sourceforge.net/svnroot/gumstix/trunk gumstix-oe
* Copy the environment variables
cat gumstix-oe/extras/profile >> ~/.bashrc
* Logout and back in to reload .bashrc
<CTRL+D>
* Once you log back in, su to root
su
* Create and set permissions on the sources folder for the build to properly work
mkdir /usr/share/sources
chown <user account>:<user account> /usr/share/sources
chmod 0775 /usr/share/sources
chmod ug+s /usr/share/sources
* Log out of su and back to <user account>
<CTRL+D>

=== Update dbus / gmp ===
* My initial build errored with:
<pre>
.libs/assert.o:assert.c:(.text+0x4e2): first defined here
| collect2: ld returned 1 exit status
| make[2]: *** [libgmp.la] Error 1
</pre>
* To resolve the above issue, I did the following (based on:http://www.nabble.com/Build-error-with-latest-svn-buildroot-td21562122.html) :
wget http://www.klc.net.nz/images/dbus.tar.gz
wget http://www.klc.net.nz/images/gmp.tar.gz
tar zxvf ./dbus.tar.gz -C ./gumstix/gumstix-oe/org.openembedded.snapshot/packages/
tar zxvf ./gmp.tar.gz -C ./gumstix/gumstix-oe/org.openembedded.snapshot/packages/
* Added variables to for versions:
vim gumstix/gumstix-oe/com.gumstix.collection/conf/machine/include/gumstix.inc
* Add the following at the end:
<pre>
PREFERRED_VERSION_gmp = "4.2.2"
PREFERRED_VERSION_gmp-native = "4.2.2"
PREFERRED_VERSION_dbus = "1.2.1"
PREFERRED_VERSION_dbus-native = "1.2.1"
</pre>

=== Build ===
'''*NOTE*''' This part took about 8 to 9 hours to completely build everything.
* Kick off the first build
bitbake gumstix-basic-image

=== Fixes ===
* I was having issues with the robostix until I realized I needed to add it into the build. I modified the ~/gumstix/gumstix-oe/com.gumstix.collection/conf/machine/gumstix-custom-verdex.conf and uncommented the robostix line, which the comments said I needed to comment out a few other lines.

vim ~/gumstix/gumstix-oe/com.gumstix.collection/conf/machine/gumstix-custom-verdex.conf
<pre>
# if you enable robostix you will need to disable both "lcd" and "touchscreen" features
#FLC - Enabled robostix
MACHINE_FEATURES += "robostix"

#FLC#MACHINE_FEATURES += "lcd"
#FLC#MACHINE_FEATURES += "rgb16"
#MACHINE_FEATURES += "rgb18"

#FLC#MACHINE_FEATURES += "touchscreen"
</pre>

===Recompile===
* To have the conf changes take effect, I had to do a recompile as such:
bitbake -c rebuild task-base-gumstix
bitbake -c rebuild gumstix-basic-image

===Compiling in Video Support===
To support the USB web cam I needed to add a few kernel modules:
cd ~/gumstix/gumstix-oe/tmp/work/gumstix-custom-verdex-angstrom-linux-gnueabi/gumstix-kernel-2.6.21-r1/linux-2.6.21
cp .config .config.flc
make ARCH=arm menuconfig
* The "make ARCH=arm menuconfig" will pop up the kernel config tool and now we need to make a few modifications as such:
* Make sure "Device Drivers->USB support->Support for Host-side USB" is set to <M> for module
* Make sure "Device Drivers->USB support->USB Gadget Support->Support for USB Gadgets" is set to < > for excluded
* Make sure "Multimedia devices->Video For Linux" is set to <M> for module
<strike>* Make sure "Multimedia devices->Video Capture Adapters->USB Logitech Quickcam Messenger" is set to <M> for module</strike>
* Save the .config file
* Copy the newly generated .config over the old defconfig and compile the kernel, as such:
cp .config /home/ohayden/gumstix/gumstix-oe/com.gumstix.collection/packages/linux/gumstix-kernel-2.6.21/gumstix-custom-verdex/defconfig
bitbake -c rebuild gumstix-kernel
* Build the support for my 046d:08ad Logitech web cam, as such:
bitbake gspcav1
* Build the jpg library used by motion:
bitbake jpeg
* Build the jpg stream daemon called motion:
bitbake motion

===Re-Install via Serial===
'''NOTE:''' 192.168.0.142 = RoboDev (VBox VM)<br>
'''NOTE:''' ttyUSB4 is wherever the Belkin USB to Serial adapter wanted to present it self
mkdir /tmp/gum
cd /tmp/gum
scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/extras/kermit-setup ./
scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/* ./
kermit -l /dev/ttyUSB4
take /tmp/gum/kermit-setup
connect
* Power on gumstix and watch kermit terminal and as soon as you see:
<pre>
U-Boot 1.2.0 (Dec 21 2007 - 13:37:16) - PXA270@600 MHz - 1578M

*** Welcome to Gumstix ***

DRAM: 128 MB
Flash: 32 MB
Using default environment

Hit any key to stop autoboot: 2
</pre>
* Press any key to abort the normal boot process and then do the following:
loadb a2000000
* Press CTRL+\ and then "c", then the following commands:
cd /tmp/gum
send gumstix-basic-image-gumstix-custom-verdex.jffs2
* You will now see an upload screen, which will take about 20 minutes to complete. There will be an estimate time left on the screen.
* Once done transferring, run the following commands:
connect
protect on 1:0-1
erase all
* It will now begin clearing and you'll see this:
<pre>
Erase Flash Bank # 1 - Warning: 2 protected sectors will not be erased!
................................................................................................................................................................................................................................................................. done
</pre>
* Run the following:
cp.b a2000000 40000 ${filesize}
loadb a2000000
* Press CTRL+\ and then "c", then the following commands:
send uImage-2.6.21-r1-gumstix-custom-verdex.bin
* You will now see an upload screen again, but this time the process will be completed much faster. More commands:
connect
katinstall 100000
katload 100000
boot
* That's it, all is done. The first boot will take a bit longer to boot than subsequent boots.

===Installing Video Support===
Copy the following packages to the robo and install with "ipkg install <package_name>":
*Video 4 Linux Kernel Modules (v4l2-common.ko, v4l1-compat.ko, and videodev.ko will be installed in /lib/modules/2.6.21/kernel/drivers/media/video):
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-v4l1-compat_2.6.21-r1_gumstix-custom-verdex.ipk
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-v4l2-common_2.6.21-r1_gumstix-custom-verdex.ipk
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/kernel-module-videodev_2.6.21-r1_gumstix-custom-verdex.ipk
*Web Cam (046d:08ad Logitech) Support Kernel Module (gspca.ko will be installed in /lib/modules/2.6.21/kernel/drivers/usb/media/):
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/gumstix-custom-verdex/gspcav1_20070110-r2_gumstix-custom-verdex.ipk
*libjpeg62:
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/armv5te/libjpeg62_6b-r7_armv5te.ipk
*Motion:
~/gumstix/gumstix-oe/tmp/deploy/glibc/ipk/armv5te/motion_3.2.6-r0_armv5te.ipk

=== Speed Up Boot Up ===
update-rc.d -f alsa-state remove
update-rc.d -f bluetooth remove

== Development ==
* http://www.gumstix.net/Software/view/Build-system-overview/Hello-world-tutorial/111.html

== Updating Gumstix/Verdex ==
=== Look Ma, No Serial! ===
This is based on this [http://www.gumstix.net/Software/view/Developer-how-to-s/Reflashing-from-a-linux-login-session/111.html article]. The current problem is that *after* you flash and reboot, you won't have network access. I need to figure out how to presetup the image so that flashing it will add my predefined network settings.

cd /tmp
cp /usr/bin/flash_eraseall /tmp
cp /usr/bin/flashcp /tmp
cp /usr/bin/flash_unlock /tmp
scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/gumstix-basic-image-gumstix-custom-verdex.jffs2 ./
scp ohayden@192.168.0.142:~/gumstix/gumstix-oe/tmp/deploy/glibc/images/gumstix-custom-verdex/uImage-2.6.21-r1-gumstix-custom-verdex.bin ./
./flash_eraseall -j /dev/mtd1
./flashcp -v gumstix-basic-image-gumstix-custom-verdex.jffs2 /dev/mtd1
./flashcp -v uImage-2.6.21-r1-gumstix-custom-verdex.bin /dev/mtd2

That's all there is to it. It's much faster than serial / kermit. If it fails, then kermit would work to de-brick. To verify the mtd devices, run "cat /proc/mtd", which 0=Bootloader, 1=RootFS, 2=Kernel.

== VERDEX Setup ==
'''NOTE:''' This is old and should no longer be followed!<br>
<strike>
SSH to the Gumstix and type:
ipkg update
ipkg install uisp
ipkg install robostix-cmdline
ipkg install robostix-module
</strike>

== ROBOSTIX Setup ==
'''NOTE:''' This is old and should no longer be followed! This was for use with the command line bash script, which was replaced by the gcc program (roboctrl).<br>
<strike>
To Configure the robotix, type:
uisp --wr_fuse_l=0xbf --wr_fuse_h=0xc2 --wr_fuse_e=0xff
uisp --erase --upload if=i2c-Boot-m128-16MHz.hex

Now with the i2c-Boot-m128-16MHz.hex loaded on the robostix, we can use the i2c-load to add the i2c-io.hex
i2c-load --reset 0x0b write i2c-io.hex

After i2c-io.hex is added, the red LED on the robositx will flash twice per second then pause then repeat flash. To test if all is okay, type:
i2c-io 0x0b info
This will ouput the version info. I had version: 2, minVersion: 1, SVN: 1588

To Initialize PWM, I create a shell script called pwm_init.sh and is as follows:
i2c-io 0x0b wr TCCR1A 0xAA
i2c-io 0x0b wr TCCR1B 0x1A
i2c-io 0x0b wr ICR1 40000
i2c-io 0x0b wr TCNT1 0
i2c-io 0x0b wr OCR1A 3000
i2c-io 0x0b wr OCR1B 3000
i2c-io 0x0b wr OCR1C 3000
i2c-io 0x0b setdir b.5 out
i2c-io 0x0b setdir b.6 out
i2c-io 0x0b setdir b.7 out

To move the servos LEFT:
i2c-io 0x0b wr OCR1A 1050
To move the servos RIGHT:
i2c-io 0x0b wr OCR1A 5000

This will turn the Blue LED on:
i2c-io 0x0b setdir g.3 out
i2c-io 0x0b set g.3 0
And this will turn the Blue LED off:
i2c-io 0x0b set g.3 1

This will also turn the Blue LED on using the writereg command:
i2c-io 0x0b writereg ddrg 0x18
i2c-io 0x0b writereg portg 0
And this will turn the Blue LED off:
i2c-io 0x0b writereg portg 0x08
</strike>

== Configuration Files ==

=== /etc/motion.conf ===
<pre>
############################################################
# Daemon
############################################################

# Start in daemon (background) mode and release terminal (default: off)
daemon on

############################################################
# Basic Setup Mode
############################################################

# Start in Setup-Mode, daemon disabled. (default: off)
setup_mode off

###########################################################
# Capture device options
############################################################

# Videodevice to be used for capturing (default /dev/video0)
# for FreeBSD default is /dev/bktr0
videodevice /dev/video0

# Tuner device to be used for capturing using tuner as source (default /dev/tuner0)
# This is ONLY used for FreeBSD. Leave it commented out for Linux
; tunerdevice /dev/tuner0

# The video input to be used (default: 8)
# Should normally be set to 1 for video/TV cards, and 8 for USB cameras
input 8

# The video norm to use (only for video capture and TV tuner cards)
# Values: 0 (PAL), 1 (NTSC), 2 (SECAM), 3 (PAL NC no colour). Default: 0 (PAL)
norm 1

# The frequency to set the tuner to (kHz) (only for TV tuner cards) (default: 0)
frequency 0

# Rotate image this number of degrees. The rotation affects all saved images as
# well as mpeg movies. Valid values: 0 (default = no rotation), 90, 180 and 270.
rotate 0

# Image width (pixels). Valid range: Camera dependent, default: 352
width 320

# Image height (pixels). Valid range: Camera dependent, default: 288
height 240

# Maximum number of frames to be captured per second.
# Valid range: 2-100. Default: 100 (almost no limit).
framerate 4

# URL to use if you are using a network camera, size will be autodetected (incl http://)
# Must be a URL that returns single jpeg pictures or a raw mjpeg stream. Default: Not defined
; netcam_url value

# Username and password for network camera (only if required). Default: not defined
# Syntax is user:password
; netcam_userpass value

# URL to use for a netcam proxy server, if required, e.g. "http://myproxy".
# If a port number other than 80 is needed, use "http://myproxy:1234".
# Default: not defined
; netcam_proxy value

# Let motion regulate the brightness of a video device (default: off).
# The auto_brightness feature uses the brightness option as its target value.
# If brightness is zero auto_brightness will adjust to average brightness value 128.
# Only recommended for cameras without auto brightness
auto_brightness off

# Set the initial brightness of a video device.
# If auto_brightness is enabled, this value defines the average brightness level
# which Motion will try and adjust to.
# Valid range 0-255, default 0 = disabled
brightness 0

# Set the contrast of a video device.
# Valid range 0-255, default 0 = disabled
contrast 0

# Set the saturation of a video device.
# Valid range 0-255, default 0 = disabled
saturation 0

# Set the hue of a video device (NTSC feature).
# Valid range 0-255, default 0 = disabled
hue 0

############################################################
# Round Robin (multiple inputs on same video device name)
############################################################

# Number of frames to capture in each roundrobin step (default: 1)
roundrobin_frames 1

# Number of frames to skip before each roundrobin step (default: 1)
roundrobin_skip 1

# Try to filter out noise generated by roundrobin (default: off)
switchfilter off

############################################################
# Motion Detection Settings:
############################################################

# Threshold for number of changed pixels in an image that
# triggers motion detection (default: 1500)
threshold 1500

# Automatically tune the threshold down if possible (default: off)
threshold_tune off

# Noise threshold for the motion detection (default: 32)
noise_level 32

# Automatically tune the noise threshold (default: on)
noise_tune on

# Enables motion to adjust its detection/noise level for very dark frames
# Don't use this with noise_tune on. (default: off)
night_compensate off

# Despeckle motion image using (e)rode or (d)ilate or (l)abel (Default: not defined)
# Recommended value is EedDl. Any combination (and number of) of E, e, d, and D is valid.
# (l)abeling must only be used once and the 'l' must be the last letter.
# Comment out to disable
despeckle EedDl

# PGM file to use as a sensitivity mask.
# Full path name to. (Default: not defined)
; mask_file value

# Dynamically create a mask file during operation (default: 0)
# Adjust speed of mask changes from 0 (off) to 10 (fast)
smart_mask_speed 0

# Ignore sudden massive light intensity changes given as a percentage of the picture
# area that changed intensity. Valid range: 0 - 100 , default: 0 = disabled
lightswitch 0

# Picture frames must contain motion at least the specified number of frames
# in a row before they are detected as true motion. At the default of 1, all
# motion is detected. Valid range: 1 to thousands, recommended 1-10
minimum_motion_frames 1

# Specifies the number of pre-captured (buffered) pictures from before motion
# was detected that will be output at motion detection.
# Recommended range: 0 to 5 (default: 0)
# Do not use large values! Large values will cause Motion to skip video frames and
# cause unsmooth mpegs. To smooth mpegs use larger values of post_capture instead.
pre_capture 0

# Number of frames to capture after motion is no longer detected (default: 0)
post_capture 0

# Gap is the seconds of no motion detection that triggers the end of an event
# An event is defined as a series of motion images taken within a short timeframe.
# Recommended value is 60 seconds (Default). The value 0 is allowed and disables
# events causing all Motion to be written to one single mpeg file and no pre_capture.
gap 60

# Minimum gap in seconds between the storing pictures while detecting motion.
# Default: 0 = as fast as possible (given by the camera framerate)
# Note: This option has nothing to do with the option 'gap'
minimum_gap 0

# Maximum length in seconds of an mpeg movie
# When value is exceeded a new mpeg file is created. (Default: 0 = infinite)
max_mpeg_time 0

# Number of frames per second to capture when not detecting
# motion (saves CPU load) (Default: 0 = disabled)
low_cpu 0

# Always save images even if there was no motion (default: off)
output_all off

############################################################
# Image File Output
############################################################

# Output 'normal' pictures when motion is detected (default: on)
# Valid values: on, off, first, best
# When set to 'first', only the first picture of an event is saved.
# Picture with most motion of an event is saved when set to 'best'.
# Can be used as preview shot for the corresponding movie.
output_normal off

# Output pictures with only the pixels moving object (ghost images) (default: off)
output_motion off

# The quality (in percent) to be used by the jpeg compression (default: 75)
quality 75

# Output ppm images instead of jpeg (default: off)
ppm off

############################################################
# Snapshots (Traditional Periodic Webcam File Output)
############################################################

# Make automated snapshot every N seconds (default: 0 = disabled)
snapshot_interval 0

############################################################
# Text Display
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second, %T = HH:MM:SS,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level, \n = new line,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event - do not use with text_event!
# You can put quotation marks around the text to allow
# leading spaces
############################################################

# Locate and draw a box around the moving object.
# Valid values: on, off and preview (default: off)
# Set to 'preview' will only draw a box in preview_shot pictures.
locate off

# Draws the timestamp using same options as C function strftime(3)
# Default: %Y-%m-%d\n%T = date in ISO format and time in 24 hour clock
# Text is placed in lower right corner
text_right %Y-%m-%d\n%T-%q

# Draw a user defined text on the images using same options as C function strftime(3)
# Default: Not defined = no text
# Text is placed in lower left corner
; text_left CAMERA %t

# Draw the number of changed pixed on the images (default: off)
# Will normally be set to off except when you setup and adjust the motion settings
# Text is placed in upper right corner
text_changes off

# This option defines the value of the special event conversion specifier %C
# You can use any conversion specifier in this option except %C. Date and time
# values are from the timestamp of the first image in the current event.
# Default: %Y%m%d%H%M%S
# The idea is that %C can be used filenames and text_left/right for creating
# a unique identifier for each event.
text_event %Y%m%d%H%M%S

# Draw characters at twice normal size on images. (default: off)
text_double off

############################################################
# Target Directories and filenames For Images And Films
# For the options snapshot_, jpeg_, mpeg_ and timelapse_filename
# you can use conversion specifiers
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# Quotation marks round string are allowed.
############################################################

# Target base directory for pictures and films
# Recommended to use absolute path. (Default: current working directory)
#FLC#target_dir /usr/local/apache2/htdocs/cam1
target_dir /var/www

# File path for snapshots (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-snapshot
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-snapshot
# File extension .jpg or .ppm is automatically added so do not include this.
# Note: A symbolic link called lastsnap.jpg created in the target_dir will always
# point to the latest snapshot, unless snapshot_filename is exactly 'lastsnap'
#FLC#snapshot_filename %v-%Y%m%d%H%M%S-snapshot
snapshot_filename snapshot

# File path for motion triggered images (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-%q
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-%q
# File extension .jpg or .ppm is automatically added so do not include this
# Set to 'preview' together with best-preview feature enables special naming
# convention for preview shots. See motion guide for details
#FLC#jpeg_filename %v-%Y%m%d%H%M%S-%q
jpeg_filename snapshot

############################################################
# Live Webcam Server
############################################################

# The mini-http server listens to this port for requests (default: 0 = disabled)
webcam_port 8081

# Quality of the jpeg images produced (default: 50)
webcam_quality 75

# Output frames at 1 fps when no motion is detected and increase to the
# rate given by webcam_maxrate when motion is detected (default: off)
webcam_motion off

# Maximum framerate for webcam streams (default: 1)
webcam_maxrate 4

# Restrict webcam connections to localhost only (default: on)
webcam_localhost off

# Limits the number of images per connection (default: 0 = unlimited)
# Number can be defined by multiplying actual webcam rate by desired number of seconds
# Actual webcam rate is the smallest of the numbers framerate and webcam_maxrate
webcam_limit 0

############################################################
# HTTP Based Control
############################################################

# TCP/IP port for the http server to listen on (default: 0 = disabled)
control_port 8080

# Restrict control connections to localhost only (default: on)
control_localhost off

# Output for http server, select off to choose raw text plain (default: on)
control_html_output on

# Authentication for the http based control. Syntax username:password
# Default: not defined (Disabled)
; control_authentication username:password

############################################################
# Tracking (Pan/Tilt)
############################################################

# Type of tracker (0=none (default), 1=stepper, 2=iomojo, 3=pwc, 4=generic)
# The generic type enables the definition of motion center and motion size to
# be used with the conversion specifiers for options like on_motion_detected
track_type 0

# Enable auto tracking (default: off)
track_auto off

# Serial port of motor (default: none)
; track_port value

# Motor number for x-axis (default: -1)
track_motorx -1

# Motor number for y-axis (default: -1)
track_motory -1

# Maximum value on x-axis (default: 0)
track_maxx 0

# Maximum value on y-axis (default: 0)
track_maxy 0

# ID of an iomojo camera if used (default: 0)
track_iomojo_id 0

# Angle in degrees the camera moves per step on the X-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_x 10

# Angle in degrees the camera moves per step on the Y-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_y 10

# Delay to wait for after tracking movement as number
# of picture frames (default: 10)
track_move_wait 10

# Speed to set the motor to (default: 255)
track_speed 255

# Number of steps to make (default: 40)
track_stepsize 40

############################################################
# External Commands, Warnings and Logging:
# You can use conversion specifiers for the on_xxxx commands
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# %f = filename with full path
# %n = number indicating filetype
# Both %f and %n are only defined for on_picture_save,
# on_movie_start and on_movie_end
# Quotation marks round string are allowed.
############################################################

# Do not sound beeps when detecting motion (default: on)
# Note: Motion never beeps when running in daemon mode.
quiet on

# Command to be executed when an event starts. (default: none)
# An event starts at first motion detected after a period of no motion defined by gap
; on_event_start value

# Command to be executed when an event ends after a period of no motion
# (default: none). The period of no motion is defined by option gap.
; on_event_end value

# Command to be executed when a picture (.ppm|.jpg) is saved (default: none)
# To give the filename as an argument to a command append it with %f
; on_picture_save value

# Command to be executed when a motion frame is detected (default: none)
; on_motion_detected value

# Command to be executed when a movie file (.mpg|.avi) is created. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_start value

# Command to be executed when a movie file (.mpg|.avi) is closed. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_end value

############################################################
# Database Options For MySQL
############################################################

# Mysql database to log to (default: not defined)
; mysql_db value

# The host on which the database is located (default: not defined)
; mysql_host value

# User account name for MySQL database (default: not defined)
; mysql_user value

# User password for MySQL database (default: not defined)
; mysql_password value

############################################################
# Database Options For PostgreSQL
############################################################

# PostgreSQL database to log to (default: not defined)
; pgsql_db value

# The host on which the database is located (default: not defined)
; pgsql_host value

# User account name for PostgreSQL database (default: not defined)
; pgsql_user value

# User password for PostgreSQL database (default: not defined)
; pgsql_password value

# Port on which the PostgreSQL database is located (default: 5432)
; pgsql_port 5432

############################################################
# Video Loopback Device (vloopback project)
############################################################

# Output images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; video_pipe value

# Output motion images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; motion_video_pipe value

##############################################################
# Thread config files - One for each camera.
# Except if only one camera - You only need this config file.
# If you have more than one camera you MUST define one thread
# config file for each camera in addition to this config file.
##############################################################

# Remember: If you have more than one camera you must have one
# thread file for each camera. E.g. 2 cameras requires 3 files:
# This motion.conf file AND thread1.conf and thread2.conf.
# Only put the options that are unique to each camera in the
# thread config files.
; thread /usr/local/etc/thread1.conf
; thread /usr/local/etc/thread2.conf
; thread /usr/local/etc/thread3.conf
; thread /usr/local/etc/thread4.conf
</pre>
=== /etc/resolv.conf ===
<pre>
domain crancho.com
search crancho.com
nameserver 192.168.0.5
</pre>

=== /etc/network/interfaces ===
<pre>
auto eth0
iface eth0 inet static
address 192.168.0.202
netmask 255.255.255.0
gateway 192.168.0.5

auto wlan0
iface wlan0 inet static
address 10.0.1.2
netmask 255.255.255.0
broadcast 10.0.1.255
pre-up /sbin/iwconfig wlan0 mode Ad-hoc essid hobo
/sbin/ifconfig wlan0 up
</pre>

<pre>
auto wlan0
iface wlan0 inet static
address 192.168.0.203
netmask 255.255.255.0
gateway 192.168.0.5
broadcast 192.168.0.255
pre-up /sbin/iwconfig wlan0 key <key> key open essid orc txpower 100mW power on
/sbin/ifconfig wlan0 up
</pre>

HouseRobot:InitialSetup - Revision history

Ohayden at 03:36, 9 June 2009