Package dlife.robot.khepera2

Classes and interfaces that support interaction with a Khepera2 robot.

See:
Description

Class Summary

Khepera2	Class for communicating with a Khepera2 robot.
Khepera2Camera	A Camera for processing video streamed from a Khepera2 robot via the dLife VisionServer.
Khepera2DifferentialDrive	A class to control the motion of a Khepera2.
Khepera2Gripper	Device for the Khepera2 Gripper.
Khepera2GripperDisplay	Gripper display for the Khepera2Gripper.
Khepera2IRSensor	A class for reading the Khepera2's infrared (IR) sensors.
Khepera2IRSensor.IRSensorDisplay	A display for the values of a Khepera2IRSensor.
Khepera2LED	A class for controlling the Khepera2's two programmable LEDs.
Khepera2Player	A simulated Khepera2 for use with the player/stage system.
Khepera2ProximitySensor	A class for reading the Khepera2's proximity sensors.

Package dlife.robot.khepera2 Description

Classes and interfaces that support interaction with a Khepera2 robot.

Overview

The Khepera2 is an education and teaching robot produced by K-Team Mobile Robotics.

Khepera2 Setup

1. Complete the Basic dLife Installation.
2. If using Linux:
   • To communicate with the Khepera2 via bluetooth you must install the libbluetooth-dev package.
   • To communicate with the Khepera2 via a serial cable you must compile the dLifeDist/native/SerialToTCP.c server.
     1. Change into the dLifeDist/native directory.
     2. Use the command: g++ -pthreads -o SerialToTCP SerialToTCP.c

Khepera2 Quick Start

1. Complete the Khepera2 Setup (once only).
2. Launch the Control Center by double clicking the ControlCenter (Mac/Linux) or ControlCenter.bat (Win) programs in the dLifeDist/UserScripts folder.
3. Select dlife.robot.khepera2.Khepera2 in the "Robot" drop down.
4. Click "Controller"
5. Navigate to and choose dLifeDist/examples/dlife/robot/khepera2/Khepera2Braitenberg.class in the File Chooser dialog that appears.
6. Click "Start Up".
7. Enter the connection information for your Hemisson.
8. Place the Khepera2 is on a flat surface where it can move around some obstacles (be sure the robot cannot fall off of the table).
9. Click "Run". The Khepera2 will move around avoiding obstacles.
10. Click "Shut Down" when finished.

Additional Resources

• The table of classes at the top of this page identifies all of the sensors and effectors that are supported.
• The examples.dlife.robot.khepera2 package contains working examples that can be used with a Khepera2.
• See the dlife.robot.gui.controlcenter documentation for information about using the ControlCenter.
• See the Controller class for information on creating controllers.
• See the dlife.vision.cameras package for information about using the dLife vision features.

Using the Khepera2 Wireless Camera

Using a Khepera2 wireless camera with dLife requires a V4L compatible video capture card and a linux box running the VisionServer. To get started:

1. Install a V4L compatible video capture card in a linux box.
2. Connect the Khepera2 Wireless Camera Radio AV Receiver to the capture card.
3. Try the steps outlined in the Quick Start with Video For Linux (V4L) using the Khepera2 Camera.
4. Try running the Khepera2CameraDrone example.