BeagleBone robotic projects

www.it-ebooks.info BeagleBone Robotic Projects Create complex and exciting robotic projects with the BeagleBone Black Richard Grimmett BIRMINGHAM - MUMBAI www.it-ebooks.info BeagleBone Robotic Projects Copyright © 2013 Packt Publishing All rights reserved No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without the prior written permission of the publisher, except in the case of brief quotations embedded in critical articles or reviews Every effort has been made in the preparation of this book to ensure the accuracy of the information presented However, the information contained in this book is sold without warranty, either express or implied Neither the author, nor Packt Publishing, and its dealers and distributors will be held liable for any damages caused or alleged to be caused directly or indirectly by this book Packt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by the appropriate use of capitals However, Packt Publishing cannot guarantee the accuracy of this information First published: December 2013 Production Reference: 1181213 Published by Packt Publishing Ltd Livery Place 35 Livery Street Birmingham B3 2PB, UK ISBN 978-1-78355-932-9 www.packtpub.com Cover Image by Disha Haria (dishah@packtpub.com) www.it-ebooks.info Credits Author Project Coordinator Richard Grimmett Leena Purkait Proofreader Reviewers Álvaro García Gómez Lihang Li Indexer Derek Molloy Tejal Soni Acquisition Editor Graphics Sam Birch Sheetal Aute Lead Technical Editor Chalini Snega Victor Technical Editors Jalasha D'costa Monica John Edwin Moses Nikhil Potdukhe Chris Smith Abhinash Sahu Production Coordinators Alwin Roy Kirtee Shingan Cover Work Kirtee Shingan Siddhi Rane Sonali S Vernekar www.it-ebooks.info About the Author Richard Grimmett has always been fascinated by computers and electronics from his very first programming project that used Fortran on punch cards He has a Bachelor's and Master's degree in Electrical Engineering and a PhD in Leadership Studies He also has 26 years of experience in the Radar and Telecommunications industries, and even has one of the original brick phones He now teaches Computer Science and Electrical Engineering at Brigham Young University - Idaho where his office is filled with many of his robotics projects I would certainly like to thank my wife and family for providing me the time and wonderful, supportive environment that encourages me to take on projects such as this one I would also like to thank my students; they always amaze and inspire me with their creativity when released from the boredom of standard educational practices www.it-ebooks.info About the Reviewers Álvaro García Gómez is a computer engineer at the University of Valladolid (Spain) and a technical administrator of IT systems He was focused on software development, but a short time later robotics and embedded devices aroused his curiosity Now he is specialized in machine learning and autonomous robotics, which involve his two passions: computing and electronics Now he is working in his own company that develops free software and hardware www.it-ebooks.info Lihang Li received his B.E degree in Mechanical Engineering from Huazhong University of Science and Technology (HUST), China in 2012 and is now pursuing his M.S degree in Computer Vision at National Laboratory of Pattern Recognition (NLPR) from the Institute of Automation, Chinese Academy of Sciences (IACAS) He is a member of Dian Group from HUST and mainly concentrated on Embedded System Development when he was an undergraduate He is familiar with Embedded Linux, ARM, DSP, and various communication interfaces (I2C, SPI, UART, CAN, and ZigBee, among others) He took part in a competition called The Asia-Pacific Robot Contest (ABU Robocon) with his team in 2012 and secured third place among 29 teams in China As a graduate student, he is focusing on Computer Vision and specially on SLAM algorithms In his free time, he likes to take part in Open Source Activities and now is President of the Open Source Club, Chinese Academy of Sciences Also, building a multicopter is his hobby and he is with a team called OpenDrone from Beijing Linux User Group (BLUG) His interest includes: Linux, Open Source, Cloud Computing, Virtualization, Computer Vision algorithms, Machine Learning and Data Mining, and various programming languages You can find him at his personal website, http://hustcalm.me Many thanks to my girlfriend Jingjing Shao; it was her encouragement to push me to be a reviewer for this book And I appreciate her kindness though sometimes I can't spare time for her Also, I must thank all the team: Leena, who is a very good Project Coordinator, and the other reviewers, though we haven't met, I'm happy to work with you www.it-ebooks.info Derek Molloy is a senior lecturer in the School of Electronic Engineering, Faculty of Engineering & Computing at Dublin City University, Ireland Since 1997, he has lectured in object-oriented programming, 3D Computer Graphics, and Digital Electronics at postgraduate and undergraduate levels His research interests are in the fields of Computer & Machine Vision, 3D Graphics and Visualization, and e-learning He is a key academic member of the Centre for Image Processing and Analysis (CIPA) at DCU He has published his works widely in international journals and conferences, including an important textbook, Machine Vision Algorithms in Java, Springer (2001) In his spare time he runs the DerekMolloyDCU YouTube channel that contains many instructional videos on the use of the BeagleBone, and he integrates everything on his personal blog at www.derekmolloy.ie www.it-ebooks.info www.PacktPub.com Support files, eBooks, discount offers, and more You might want to visit www.PacktPub.com for support files and downloads related to your book Did you know that Packt offers eBook versions of every book published, with PDF and ePub files available? 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PacktLib is Packt's online digital book library Here, you can access, read and search across Packt's entire library of books.  Why Subscribe? • Fully searchable across every book published by Packt • Copy and paste, print and bookmark content • On demand and accessible via web browser Free Access for Packt account holders If you have an account with Packt at www.PacktPub.com, you can use this to access PacktLib today and view nine entirely free books Simply use your login credentials for immediate access www.it-ebooks.info Table of Contents Preface 1 Chapter 1: Getting Started with the BeagleBone Black Mission briefing The unveiling! Hooking up a keyboard, mouse, and display Changing the operating system Adding a graphical user interface Accessing the board remotely Mission accomplished A challenge Chapter 2: Programming the BeagleBone Black Mission briefing Basic Linux commands and navigating the filesystem Creating, editing, and saving files on the BeagleBone Black Creating and running Python programs on the BeagleBone Black Basic programming constructs on the BeagleBone Black Introduction to the C++ programming language Mission accomplished A challenge Chapter 3: Providing Speech Input and Output Mission briefing Hooking up the HW to make and input sound Using eSpeak to allow your projects to respond in a robotic voice Using PocketSphinx to interpret your commands Providing the capability to interpret your commands and have your robot initiate an action www.it-ebooks.info 11 15 18 22 26 34 34 35 35 36 42 43 47 54 59 59 61 61 64 70 73 80 .. .BeagleBone Robotic Projects Create complex and exciting robotic projects with the BeagleBone Black Richard Grimmett BIRMINGHAM - MUMBAI www.it-ebooks.info BeagleBone Robotic Projects. .. with many of his robotics projects I would certainly like to thank my wife and family for providing me the time and wonderful, supportive environment that encourages me to take on projects such... the BeagleBone Black Mission briefing Basic Linux commands and navigating the filesystem Creating, editing, and saving files on the BeagleBone Black Creating and running Python programs on the BeagleBone