After connecting FLASH's low level control system USB connector to the master PC controller you must install the camera and ten serial control ports drivers. All drivers are usually installed automatically by Windows; if not install the following drivers:
- Microsoft LifeCam Studio driver LINK,
- Serial drivers from FTDI: VCC LINK or D2XX LINK, for difference see "VCP vs D2XX" document LINK,
- Serial driver for EMYS debug port LINK. ATTENTION! This driver is NOT digitally signed, if you are using Win 8.1 read tutorial how to disable signature verification LINK.
If all is connected properly and when the camera and serial port drivers are installed, in the Windows device manager you should see few additional devices: “Microsoft LifeCam Studio” in “Imaging Devices” group, one “EMYS debug port (COMX)” (diagnostic head port) and nine “USB Serial Port (COMY)” (platform, hands, arms, head, laser,... control ports) in “Ports (COM&LPT)” group (see Fig. 1).
Fig. 1 View of EMYS' drivers.
For working with Kinect install:
- Microsoft Kinect Runtime 1.8 LINK (if you're working with Kinect for Windows),
- Microsoft Kinect SDK 1.8 LINK (if you're working with Kinect for Xbox or recompiling UKinect module).
Fig. 3 View of Kinect installed drivers.
URBI control system installation
- Create main URBI directory on your hard drive (or cloud drive) (see Fig. 3).
- Download Urbi Engine 2.7.5 SDK LINK and extract all files to this folder.
- For working with Urbi install Urbi console LINK and Urbi editor LINK.
- From GitHub LINK, download modules LINK and urbi_scripts LINK folders and copy them to your main URBI folder.
Fig. 3 Robot control system folder structure.
- Check the numbers of USB Serial Ports in Device Manager and modify _CONFIG_.u file in urbiscripts folder.
- change _com_head variable (from “COM4” to appropriate COM number) in EMYS CONFIGURATION section (see Fig. 4).
- change _com_platform variable (from “COM1” to appropriate COM number), _com_laser variable (from “COM3” to appropriate COM number) in PLATFORM CONFIGURATION section (see Fig. 5).
- change _com_arms variable (from “COM5” to appropriate COM number) in ARMS CONFIGURATION section (see Fig. 6).
- change _com_Lhands and _com_Rhands variables (from “COM6” and “COM7” to appropriate COM numbers) in HANDS CONFIGURATION section (see Fig. 7).
Fig. 4 EMYS control port configuration.
Fig. 5 Platform control port configuration.
Fig. 6 Arms control port configuration.
Fig. 7 Hands control port configuration.