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AmigoBot Users Guide
# chgrp users /dev/ttyS0
# chmod g+rwx /dev/ttyS0 // ditto
# chgrp users /tmp
# chmod g+rwx /tmp
We assume that the serial device and the /tmp directory already exist (they usually do when you
install LINUX) and that you and others who wish to operate AmigoBot and the Simulator are
members of the users group. Indicate the alternate serial port name if you have AmigoLeash
or the AmigoBot with Serial Ethernet host radio Ethernet attached to a different port:
/dev/ttyS2, for example.
G U I s a n d D i s p l a y s
Saphira makes use of the Fast Light Tool Kit (FLTK) for the Graphical User Interface with both the
RedHat Linux® and Windows® versions. We include the latest FLTK libraries, so you need to install
only the software.
However, for those interested, source code and complete distributions of FLTK may be obtained
from:
http://fltk.easysw.com/software.html
Please be careful. Versions of FLTK other than that which accompanies the software may not
work.
S e r i a l P o r t s a n d C o n n e c t i o n s
Software that runs AmigoBot from your PC communicates with and controls the robot through a
serial connection. Use the AmigoLeash that came with your robot to tether the robot to one of
your computer's serial ports.
operate AmigoBot without a tether over a network.
AmigoLeash
AmigoLeash comes in two parts: an adapter
containing both a 9-pin DSUB and an RJ-11/12
socket, and a long cable terminated on each end
with an RJ-11/12 plug (a common telephone cable).
Plug one end of the AmigoLeash cable into the
adaptor, and then plug the adaptor into one of the
serial ports on the back of your PC.
Adaptors (9-pin to 25-pin) are available for the less
common 25-pin serial port connectors that are on
some of the older PCs. However, don't confuse that
uncommon serial port connector with the common
25-pin socket to which you typically attach a printer.
One quick way to tell the difference is that serial
ports are plugs (male) and the parallel port usually is
a socket (female).
If you plan to operate your robot tethered to your
PC and do not have a Serial Ethernet radio installed, plug the other end of the AmigoLeash into
the RJ-11/12 receptacle (Control Port) that comes out of the top of the robot. The similar RJ-
11/12 receptacle on the bottom of AmigoBot next to the charger port and power switch also is
8
// Use ttyS0-Sn, depending on actual port
Use the AmigoBot with the Serial Ethernet radio accessory to
Figure 6: Use AmigoLeash to connect
AmigoBot with your PC.
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