Pulurobot M Operation Documentation

Operational Guide

Accessing RaspberryPi File Partition

The 2 primary ways of accessing the file system are to SSH to the robot itself, or to remove the SD card from the RPi and access it directly, note the later requires a MicroSD card Reader.

SSH

In order to SSH to the robot you must be within the same network as the robot, if you are unsure of the robots IP, you will need to manually connect to the robot and check its IP with a network scanner or from the host router.

If the robot is online you may simply do so through the vpn (you may need to ssh to the vpn first).
ssh hrst@{network IP}
password: Enter the user account password.

You can also directly network to the robot via the ethernet port located on the RPi or the socket underneath the chassis. Plug in the ethernet cable and repeat the above procedure.

Physical Access

RaspberryPI GUI

1. Remove the front panel of the Bot as shown here.
2. Remove the raspberry pi from the microController.
3. Plug in an HDMI cable to the RaspberryPi as well as a keyboard and mouse.
4. Power the RaspberryPi with a micro USB cable and wait for the command line to appear on the monitor.
5. Log in to the RPi and run: startx

Secondary Operating System

Using a microSD Card reader, and another linux system, you can directly access the boot partition and the Raspbian filesystem partition. Plug in the SD card and mount the card as a physical drive.

1. After connecting the SDcard Reader run the following command and make note of the device name (listed as FileSystem name) excluding the number suffix, it will be similar to '/dev/sdb'.
   fdisk -l
2. Create the mount directory for the SD card to the prefered directory
   mkdir {directory}
3. Mount the SD card to the chosen directory
   mount {device name} {directory}
4. The file system will be mounted in your chosed directory.
   cd {directory}

Backing up RPi Image

It is important to backup the SD card before you implement any changes to the Pi as it can be irreversable or you may encounter unforseen issues. You will also need a microSD card reader.

• Before connecting the microSD card to your SD card reader, run the following command in terminal to identify the currently connected devices.
  df h

• Plug in your SD card and re-run the above command. Your SD Card will be the new device listed, it should be something similar to '/dev/sda#'

• In the terminal window run the following command using the 'FileSystem' name, make sure you do not include the number at the end of the name.
  sudo dd if=/dev/{sdb - your drive's name} of=~/SDBackup.img

  Note: The DD command does not show any progress indications so you will need to wait until the system has completed the copy, this may take several minutes.

Network Configuration

General Settings

To connect to a network automatically on bootup you will need acceess to the RPi File partition (instructions on how to d this can be found !here!). Once you have gained access follow these steps:

1. The network interface settingsa are located in the file 'etc/network/interfaces.txt'. To view these settings enter: cat etc/network/interfaces.txt

   • Network Configuration DHCP/Static change the lest part accordingly
     iface eth0 inet dhcp/static

2. Before changing any settings create a backup of the current network interfaces
   sudo cp /etc/network/interfaces /etc/network/interfaces.backup

Defining a new connection

1. Open the text file 'etc/network/interfaces.txt' to edit
   sudo nano /etc/network/interfaces
2. Enter the SSID and passcode of the desired network next to 'wpa-ssid' and 'wpa-psk' respectively.

   iface wlan0 inet dhcp  
   wpa-ssid	"ssid"  
   wpa-psk 	"password"
   

Changelog

Installed Packages

General Packages

• Gedit

GUI packages

• Xserver-xorg
• Xinit
• Raspberrypi-ui-mods
• Lxterminal
• LightDM