MYRO GNU/Linux Setup on Ubuntu 8.10 (Intrepid) 
==============================================


Myro setup:
-----------

Go to terminal and execute those commands.

andrea@castellaniX:~$ mkdir myro
andrea@castellaniX:~$ cd myro
andrea@castellaniX:~$ sudo apt-get update
andrea@castellaniX:~$ sudo apt-get install python python-tk python-serial python-pyxmpp python-imaging python-imaging-tk python-numpy libsnack2 python-pygame festival festvox-rablpc16k
andrea@castellaniX:~$ sudo ldconfig
andrea@castellaniX:~$ wget http://myro.roboteducation.org/download/myro-2.8.14.zip
andrea@castellaniX:~$ unzip myro-2.8.14.zip
andrea@castellaniX:~$ sudo python setup.py install
andrea@castellaniX:~$ wget http://cvs.cs.brynmawr.edu/cgi-bin/viewcvs.cgi/*checkout*/Myro/misc/ScriptBinding.py
andrea@castellaniX:~$ wget http://cvs.cs.brynmawr.edu/cgi-bin/viewcvs.cgi/*checkout*/Myro/misc/config-extensions.def
andrea@castellaniX:~$ sudo cp ScriptBinding.py /usr/lib/python2.5/idlelib/.
andrea@castellaniX:~$ sudo cp config-extensions.def /usr/lib/python2.5/idlelib/.
andrea@castellaniX:~$ wget http://cvs.cs.brynmawr.edu/cgi-bin/viewcvs.cgi/*checkout*/Myro/Start%20Python.pyw
andrea@castellaniX:~$ chmod +x Start\ Python.pyw

All done!! Now you may open Myro IDLE window:
andrea@castellaniX:~$ ./Start\ Python.pyw



bluetooth tips:
---------------
Go to terminal and execute those commands.

andrea@castellaniX:~$ hcitool scan
  [...read the IPRE Fluke mac-address xx:xx:xx:xx:xx:xx, mark and copy it. Example of output:]
Scanning ...
       00:1E:19:01:05:16       IPRE6-245699

andrea@castellaniX:~$ sudo gedit /var/lib/bluetooth/pincodes
  [...paste your IPRE mac-address in gedit and write " 1234". Example of my add:]
00:1E:19:01:05:16 1234
  [...now save the file and exit from gedit]

andrea@castellaniX:~$ sudo gedit /etc/bluetooth/rfcomm.conf
  [...add an entry like this above, but pasting your IPRE mac-address. Example of my config:]
rfcomm0 {
       # Automatically bind the device at startup
       bind yes;
       # Bluetooth address of the device
       device 00:1E:19:01:05:16;
       #BorgDongle
       # RFCOMM channel for the connection
       channel	1;
       # Description of the connection
       comment "IPRE Scribbler Dongle";
}
  [...now save the file and exit from gedit]

andrea@castellaniX:~$ sudo hcitool cc xx:xx:xx:xx:xx:xx [...you have to paste your IPRE mac-address]
andrea@castellaniX:~$ sudo rfcomm bind all
andrea@castellaniX:~$ sudo hcitool con 
  [...this will show if the IPRE is connected. Example of output:]
Connections:
	< ACL 00:1E:19:01:05:16 handle 11 state 1 lm MASTER

If you don't see your IPRE mac-address listed, try to restart bluetooth:
andrea@castellaniX:~$ sudo /etc/init.d/bluetooth force-reload
...or simply restart the computer.



Write a simple check program:
-----------------------------
Go in Myro IDLE window

andrea@castellaniX:~$ ./Start\ Python.pyw

...and write those commands:

>>> from myro import *
>>> init()
  [...now your IPRE com port could be "/dev/rfcomm0", so write it]
>>> p = makePicture("color")
>>> show(p)                          # should open up a window with the camera shot
>>> computer.beep(1, 800)            # should make a beep
>>> speak("Hello world!")            # should speak
>>> joyStick()			     # should open a windows letting you to drive your robot

See "Myro Installation Manual" for other details.



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v0.1 by Andrea Castellani (CC-license)