Elisa-3 Aseba - Revision history

WikiSysop at 09:48, 22 April 2026

2026-04-22T09:48:12Z

← Older revision		Revision as of 09:48, 22 April 2026
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	4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot. The final target string must be <code>tcp:host=localhost;port=33333</code><br/>		4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot. The final target string must be <code>tcp:host=localhost;port=33333</code><br/>
	5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>		5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//www.gctronic.com/doc/images/~~aseba-screenshot2.jpg ~~<img width=400 src="https://www.gctronic.com/doc/images/aseba-screenshot2-small.jpg">~~]</~~span~~>		[[File:aseba-screenshot2.jpg\|400px]]<br/>

	Have a look also at the following video (you must use the script instead of manually issueing the command as in the video):<br/>		Have a look also at the following video (you must use the script instead of manually issueing the command as in the video):<br/>

WikiSysop: /* Connection with AsebaStudio */

2024-02-21T07:41:05Z

Connection with AsebaStudio

← Older revision		Revision as of 07:41, 21 February 2024
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	* Windows: double click on the bat file		* Windows: double click on the bat file
	* Linux / Mac OS: set the script to be executable with the command <code>chmod +x asebaswitch_elisa3.sh</code> and then execute it <code>./asebaswitch_elisa.sh</code>		* Linux / Mac OS: set the script to be executable with the command <code>chmod +x asebaswitch_elisa3.sh</code> and then execute it <code>./asebaswitch_elisa.sh</code>
	4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot<br/>		4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot. The final target string must be <code>tcp:host=localhost;port=33333</code><br/>
	5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>		5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>
	<span class="plainlinks">[https://www.gctronic.com/doc/images/aseba-screenshot2.jpg <img width=400 src="https://www.gctronic.com/doc/images/aseba-screenshot2-small.jpg">]</span>		<span class="plainlinks">[https://www.gctronic.com/doc/images/aseba-screenshot2.jpg <img width=400 src="https://www.gctronic.com/doc/images/aseba-screenshot2-small.jpg">]</span>

WikiSysop: /* Connection with AsebaStudio */

2024-02-21T07:15:08Z

Connection with AsebaStudio

← Older revision		Revision as of 07:15, 21 February 2024
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	1. Connect the robot to the computer if not already done and turn it on<br/>		1. Connect the robot to the computer if not already done and turn it on<br/>
	2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>		2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>
	* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.~~bat~~ asebaswitch_elisa3.zip]; decompress it and spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)		* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.zip asebaswitch_elisa3.zip]; decompress it and spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)
	* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)		* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)
	<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).		<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).

WikiSysop: /* Connection with AsebaStudio */

2024-02-21T07:14:52Z

Connection with AsebaStudio

← Older revision		Revision as of 07:14, 21 February 2024
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	1. Connect the robot to the computer if not already done and turn it on<br/>		1. Connect the robot to the computer if not already done and turn it on<br/>
	2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>		2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>
	* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.zip] (decompress it); spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)		* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.zip]; decompress it and spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)
	* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)		* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)
	<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).		<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).

WikiSysop: /* Connection with AsebaStudio */

2024-02-21T07:14:27Z

Connection with AsebaStudio

← Older revision		Revision as of 07:14, 21 February 2024
Line 12:		Line 12:
	1. Connect the robot to the computer if not already done and turn it on<br/>		1. Connect the robot to the computer if not already done and turn it on<br/>
	2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>		2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>
	* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.~~bat~~]; spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)		* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.zip] (decompress it); spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)
	* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)		* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)
	<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).		<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).

WikiSysop: /* Prerequisites */

2024-02-21T07:13:33Z

Prerequisites

← Older revision		Revision as of 07:13, 21 February 2024
Line 5:		Line 5:
	The following steps neeed to be done only once:		The following steps neeed to be done only once:
	# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too		# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too
	# [https://projects.gctronic.com/elisa3/aseba-~~bin~~-1.5.~~5-git-b858c2e-win32~~.~~exe Download~~] and install Aseba version '''1.5.5'''		# Download ([https://projects.gctronic.com/elisa3/aseba-1.6.1.exe Windows], [https://projects.gctronic.com/elisa3/aseba_1.6.1_amd64.deb Linux], [https://projects.gctronic.com/elisa3/Aseba-1.6.1.dmg Mac]) and install Aseba version '''1.6.1'''
	# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])		# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])

WikiSysop: /* Prerequisites */

2024-02-21T07:08:49Z

Prerequisites

← Older revision		Revision as of 07:08, 21 February 2024
Line 5:		Line 5:
	The following steps neeed to be done only once:		The following steps neeed to be done only once:
	# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too		# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too
	# ~~Download and install Aseba~~ [https://~~www~~.~~thymio~~.~~org~~/~~en:wininstall https:~~/~~/www~~.~~thymio~~.~~org/en:wininstall~~]~~; be sure to get~~ version '''1.5.5''' ~~by looking in the version history~~		# [https://projects.gctronic.com/elisa3/aseba-bin-1.5.5-git-b858c2e-win32.exe Download] and install Aseba version '''1.5.5'''
	# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])		# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])

WikiSysop at 10:55, 27 January 2023

2023-01-27T10:55:57Z

WikiSysop at 07:50, 29 September 2021

2021-09-29T07:50:12Z

WikiSysop: /* Connection with AsebaStudio */

2018-03-21T09:24:29Z

Connection with AsebaStudio

← Older revision		Revision as of 09:24, 21 March 2018
Line 12:		Line 12:
	1. Connect the robot to the computer if not already done and turn it on<br/>		1. Connect the robot to the computer if not already done and turn it on<br/>
	2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>		2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>
	:* Windows: [http://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.bat]; spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)		* Windows: [http://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.bat]; spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)
	:* Linux / Mac OS: [http://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)		* Linux / Mac OS: [http://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)
	<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).		<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).
	-->		-->
	3. Start the script:		3. Start the script:
	:* Windows: double click on the bat file		* Windows: double click on the bat file
	:* Linux / Mac OS: set the script to be executable with the command <code>chmod +x asebaswitch_elisa3.sh</code> and then execute it <code>./asebaswitch_elisa.sh</code>		* Linux / Mac OS: set the script to be executable with the command <code>chmod +x asebaswitch_elisa3.sh</code> and then execute it <code>./asebaswitch_elisa.sh</code>
	4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot<br/>		4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot<br/>
	5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>		5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>

← Older revision		Revision as of 10:55, 27 January 2023
Line 4:		Line 4:
	==Prerequisites==		==Prerequisites==
	The following steps neeed to be done only once:		The following steps neeed to be done only once:
	# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too		# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too
	# Download and install Aseba [https://www.thymio.org/en:wininstall https://www.thymio.org/en:wininstall]; be sure to get version '''1.5.5''' by looking in the version history		# Download and install Aseba [https://www.thymio.org/en:wininstall https://www.thymio.org/en:wininstall]; be sure to get version '''1.5.5''' by looking in the version history
	# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])		# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])

	==Connection with AsebaStudio==		==Connection with AsebaStudio==
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	4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot<br/>		4. Start ''AsebaStudio'' and select <code>Network(TCP)</code>, insert <code>localhost</code> as <code>Host</code> and specify <code>33333</code> as <code>Port</code> to open the connection with the robot<br/>
	5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>		5. If the connection is correctly established you should see the Elisa-3 variables on the left side of ''AsebaStudio'' as shown in the following figure:<br/>
	<span class="plainlinks">[~~http~~://www.gctronic.com/doc/images/aseba-screenshot2.jpg <img width=400 src="~~http~~://www.gctronic.com/doc/images/aseba-screenshot2-small.jpg">]</span>		<span class="plainlinks">[https://www.gctronic.com/doc/images/aseba-screenshot2.jpg <img width=400 src="https://www.gctronic.com/doc/images/aseba-screenshot2-small.jpg">]</span>

	Have a look also at the following video (you must use the script instead of manually issueing the command as in the video):<br/>		Have a look also at the following video (you must use the script instead of manually issueing the command as in the video):<br/>
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	=Software=		=Software=
	First of all hava a look at some of the examples proposed in the following section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3_Aseba#AsebaStudio_examples AsebaStudio examples].<br/>		First of all hava a look at some of the examples proposed in the following section [https://www.gctronic.com/doc/index.php/Elisa-3_Aseba#AsebaStudio_examples AsebaStudio examples].<br/>
	Then when you're ready you can start programming the robot on your own, refer to section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3_Aseba#Programming_interface Programming interface]; moreover you can have a look at [https://www.thymio.org/en:start https://www.thymio.org/en:start] for more information.<br/>		Then when you're ready you can start programming the robot on your own, refer to section [https://www.gctronic.com/doc/index.php/Elisa-3_Aseba#Programming_interface Programming interface]; moreover you can have a look at [https://www.thymio.org/en:start https://www.thymio.org/en:start] for more information.<br/>
	<font style="color:red">Pay attention that you have 100 bytes availables for your script due to memory constraints.</font><br/>		<font style="color:red">Pay attention that you have 100 bytes availables for your script due to memory constraints.</font><br/>
	If you want to have a look behind the scene refer to section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3_Aseba#Contribute_to_the_Elisa-3_Aseba_target Contribute to the Elisa-3 Aseba target].		If you want to have a look behind the scene refer to section [https://www.gctronic.com/doc/index.php/Elisa-3_Aseba#Contribute_to_the_Elisa-3_Aseba_target Contribute to the Elisa-3 Aseba target].

	==AsebaStudio examples==		==AsebaStudio examples==
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	The repo contains all Arduino targets, the Elisa-3 target is placed in the directory ''elisa3''. To build the project follow these steps:		The repo contains all Arduino targets, the Elisa-3 target is placed in the directory ''elisa3''. To build the project follow these steps:
	# clone the repo by issueing the command: <code>git clone --recursive https://github.com/gctronic/aseba-targets-arduino.git</code>		# clone the repo by issueing the command: <code>git clone --recursive https://github.com/gctronic/aseba-targets-arduino.git</code>
	# download [~~http~~://www.atmel.com/Microsite/atmel-studio/ Atmel Studio 7] since this IDE was used to create the project; the installation of ''Atmel Studio'' includes also the toolchain so you should be able to build the project without any modification		# download [https://www.atmel.com/Microsite/atmel-studio/ Atmel Studio 7] since this IDE was used to create the project; the installation of ''Atmel Studio'' includes also the toolchain so you should be able to build the project without any modification
	# to open the project double click <code>elisa3-aseba.atsln</code>		# to open the project double click <code>elisa3-aseba.atsln</code>

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	* <code>aseba\trunk\transport\buffer\vm-buffer.h</code>		* <code>aseba\trunk\transport\buffer\vm-buffer.h</code>

	The project depends also on the Elisa-3 library contained in the [~~http~~://www.gctronic.com/doc/index.php/Elisa-3#Advanced_demo ''Elisa-3 advanced firmware revision 221''].		The project depends also on the Elisa-3 library contained in the [https://www.gctronic.com/doc/index.php/Elisa-3#Advanced_demo ''Elisa-3 advanced firmware revision 221''].

	=Programming interface=		=Programming interface=
	This page describes the programming capabilities of Elisa-3. It lists the different <font style="color:red">variables</font>, <font style="color:green">events</font> and <font style="color:blue">functions</font> and indicates to which elements of the robot they refer (see section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3#Hardware Hardware] to know where is the actual position on the robot of the sensors and actuators). Each variable is marked with either ''[R]'' or ''[W]'' to indicate whether the variable is used to read a value from the robot or write a value to the robot respectively. This page refers to firmware revision 0 and later.<br/>		This page describes the programming capabilities of Elisa-3. It lists the different <font style="color:red">variables</font>, <font style="color:green">events</font> and <font style="color:blue">functions</font> and indicates to which elements of the robot they refer (see section [https://www.gctronic.com/doc/index.php/Elisa-3#Hardware Hardware] to know where is the actual position on the robot of the sensors and actuators). Each variable is marked with either ''[R]'' or ''[W]'' to indicate whether the variable is used to read a value from the robot or write a value to the robot respectively. This page refers to firmware revision 0 and later.<br/>
	You can find a document that summarizes the programming interface in the following link [https://projects.gctronic.com/elisa3/elisa3-aseba-cheatsheet.png elisa3-aseba-cheatsheet.png].		You can find a document that summarizes the programming interface in the following link [https://projects.gctronic.com/elisa3/elisa3-aseba-cheatsheet.png elisa3-aseba-cheatsheet.png].

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	* <font style="color:red"><code>acc[1]</code></font> : y-axis (from left to right, positive towards right)		* <font style="color:red"><code>acc[1]</code></font> : y-axis (from left to right, positive towards right)
	* <font style="color:red"><code>acc[2]</code></font> : z-axis (from bottom to top, positive upward)		* <font style="color:red"><code>acc[2]</code></font> : z-axis (from bottom to top, positive upward)
	The values in this array vary from -128 to 128, with 1 g ([~~http~~://en.wikipedia.org/wiki/Earth%27s_gravity the acceleration of the earth's gravity]) corresponding to the value 64. Elisa-3 generates the <font style="color:green"><code>acc</code></font> event after every update.<br/>		The values in this array vary from -128 to 128, with 1 g ([https://en.wikipedia.org/wiki/Earth%27s_gravity the acceleration of the earth's gravity]) corresponding to the value 64. Elisa-3 generates the <font style="color:green"><code>acc</code></font> event after every update.<br/>
	The z-axis is used also to know the current orientation of the robot, that is if it is moving vertically or horizontally; the current orientation can be accessed using the function <font style="color:blue"><code>robot.isVertical(dest)</code></font>, where <code>dest</code> will be 1 if it is vertical or 0 if it is horizontal.		The z-axis is used also to know the current orientation of the robot, that is if it is moving vertically or horizontally; the current orientation can be accessed using the function <font style="color:blue"><code>robot.isVertical(dest)</code></font>, where <code>dest</code> will be 1 if it is vertical or 0 if it is horizontal.

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	==Local communication==		==Local communication==
	Elisa-3 can use its infrared proximity sensors to communicate with other robots within a range of about 5 cm. For more detailed information refer to section [~~http~~://www.gctronic.com/doc/index.php/Elisa-3#Local_communication Local communication].<br/>		Elisa-3 can use its infrared proximity sensors to communicate with other robots within a range of about 5 cm. For more detailed information refer to section [https://www.gctronic.com/doc/index.php/Elisa-3#Local_communication Local communication].<br/>
	To use the communication, call the <font style="color:blue"><code>prox.comm.enable(state)</code></font> function, with 1 in state to enable communication or 0 to turn it off. If the communication is enabled, the value in the <font style="color:red"><code>prox.comm.tx</code></font> ''[W]'' variable is transmitted to others robots from all the sensors. When Elisa-3 receives a value, the event <font style="color:green"><code>prox.comm</code></font> is fired and the value is in the <font style="color:red"><code>prox.comm.rx</code></font> ''[R]'' variable; moreover the <font style="color:red"><code>prox.comm.rx.id</code></font> ''[R]'' variable contains the id of the sensors (from 0 to 7, where 0 is the front sensor, sensors id increases clockwise) that received the data.		To use the communication, call the <font style="color:blue"><code>prox.comm.enable(state)</code></font> function, with 1 in state to enable communication or 0 to turn it off. If the communication is enabled, the value in the <font style="color:red"><code>prox.comm.tx</code></font> ''[W]'' variable is transmitted to others robots from all the sensors. When Elisa-3 receives a value, the event <font style="color:green"><code>prox.comm</code></font> is fired and the value is in the <font style="color:red"><code>prox.comm.rx</code></font> ''[R]'' variable; moreover the <font style="color:red"><code>prox.comm.rx.id</code></font> ''[R]'' variable contains the id of the sensors (from 0 to 7, where 0 is the front sensor, sensors id increases clockwise) that received the data.

← Older revision		Revision as of 07:50, 29 September 2021
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	# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [http://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too		# The communication between Aseba and Elisa-3 is done through the USB (serial communication is used) cable so you need to install the driver, refer to section [http://www.gctronic.com/doc/index.php/Elisa-3#Requirements Elisa-3 requirements]; in the future we will maybe add RF support too
	# Download and install Aseba [https://www.thymio.org/en:wininstall https://www.thymio.org/en:wininstall]; be sure to get version '''1.5.5''' by looking in the version history		# Download and install Aseba [https://www.thymio.org/en:wininstall https://www.thymio.org/en:wininstall]; be sure to get version '''1.5.5''' by looking in the version history
	# Download the Elisa-3 target for Aseba [~~http~~://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [http://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])		# Download the Elisa-3 target for Aseba [https://projects.gctronic.com/elisa3/elisa3-aseba.hex elisa3-aseba.hex] and upload it to the robot (refer to section [http://www.gctronic.com/doc/index.php/Elisa-3#Programming Elisa-3 Programming])

	==Connection with AsebaStudio==		==Connection with AsebaStudio==
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	1. Connect the robot to the computer if not already done and turn it on<br/>		1. Connect the robot to the computer if not already done and turn it on<br/>
	2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>		2. Download the following script based on your platform and modify its content specifying the AsebaStudio installation folder and the robot port:<br/>
	* Windows: [~~http~~://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.bat]; spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)		* Windows: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.bat asebaswitch_elisa3.bat]; spcifiy the installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>) and the port number (e.g. <code>10</code> for <code>COM10</code>)
	* Linux / Mac OS: [~~http~~://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)		* Linux / Mac OS: [https://projects.gctronic.com/elisa3/asebaswitch_elisa3.sh asebaswitch_elisa3.sh]; specifiy the installation folder (e.g. <code>/usr/bin</code> in Linux or <code>/Applications/Aseba/bin</code> in Mac OS) and the port (e.g. <code>/dev/ttyUSB0</code> in Linux or <code>/dev/cu.usbserial-XXXXX</code> in Mac OS)
	<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).		<!-- # Start the ''asebaswitch'' tool by issueing the command:<br/> <code>asebaswitch -d -v "ser:port=104;baud=57600;stop=1;parity=none;fc=none;bits=8"</code> <br/> you need only to specify the correct <code>port</code> number (''COMx''). The robot will blink if the connection is correctly opened. <br/> For more information about the parameters refer to [https://github.com/aseba-community/dashel/tree/master/docs https://github.com/aseba-community/dashel/tree/master/docs]. <br/> You can find ''asebaswitch'' in the ''AsebaStudio'' installation folder (e.g. <code>C:\Program Files (x86)\AsebaStudio</code>).
	-->		-->
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	==AsebaStudio examples==		==AsebaStudio examples==
	You can download all the following examples from [~~http~~://projects.gctronic.com/elisa3/aseba-elisa3-examples.zip aseba-elisa3-examples.zip]; in order to launch an example follow these steps:		You can download all the following examples from [https://projects.gctronic.com/elisa3/aseba-elisa3-examples.zip aseba-elisa3-examples.zip]; in order to launch an example follow these steps:
	# place the robot selector in position 5. When the robot is turned on, the position of the selector (from 0 to 9) define the node name in ''AsebaStudio'', in our case the node name will be <code>elisa3-5</code> (where ''5'' is the selector position)		# place the robot selector in position 5. When the robot is turned on, the position of the selector (from 0 to 9) define the node name in ''AsebaStudio'', in our case the node name will be <code>elisa3-5</code> (where ''5'' is the selector position)
	# extract the zip, the directory contains some file with ''aesl'' extension, this is the ''AsebaStudio'' code extension		# extract the zip, the directory contains some file with ''aesl'' extension, this is the ''AsebaStudio'' code extension
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	=Programming interface=		=Programming interface=
	This page describes the programming capabilities of Elisa-3. It lists the different <font style="color:red">variables</font>, <font style="color:green">events</font> and <font style="color:blue">functions</font> and indicates to which elements of the robot they refer (see section [http://www.gctronic.com/doc/index.php/Elisa-3#Hardware Hardware] to know where is the actual position on the robot of the sensors and actuators). Each variable is marked with either ''[R]'' or ''[W]'' to indicate whether the variable is used to read a value from the robot or write a value to the robot respectively. This page refers to firmware revision 0 and later.<br/>		This page describes the programming capabilities of Elisa-3. It lists the different <font style="color:red">variables</font>, <font style="color:green">events</font> and <font style="color:blue">functions</font> and indicates to which elements of the robot they refer (see section [http://www.gctronic.com/doc/index.php/Elisa-3#Hardware Hardware] to know where is the actual position on the robot of the sensors and actuators). Each variable is marked with either ''[R]'' or ''[W]'' to indicate whether the variable is used to read a value from the robot or write a value to the robot respectively. This page refers to firmware revision 0 and later.<br/>
	You can find a document that summarizes the programming interface in the following link [~~http~~://projects.gctronic.com/elisa3/elisa3-aseba-cheatsheet.png elisa3-aseba-cheatsheet.png].		You can find a document that summarizes the programming interface in the following link [https://projects.gctronic.com/elisa3/elisa3-aseba-cheatsheet.png elisa3-aseba-cheatsheet.png].

	==Standard library==		==Standard library==