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3D Tic Tac Toe

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This document describe how to start baxter and set up the 3d tic tac toe game Done by a third year student at the University of Leeds: Ben Hirsh

Edited by: Muhannad Al-omari

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switching baxter ON

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*** Baxter won't move, so don't worry ***

To switch baxter ON,

1- connect the power cable to the back side of baxter (make sure the power outlet can handle more than 6 Amps)

2- Press the White power button in the back side of baxter.

Baxter is now on, it won't move so don't worry about switching it ON
Wait for the screen (Baxter face) to show Rethink Robotics logo

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connecting baxter to the laptop

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*** Baxter won't move, so don't worry ***

To connect baxter to your laptop,

1- connect the etherner cable to your laptop, connect the other end to the back of baxter.

*** after connecting the cable you should see that Robotics network is now connected.

2- open a terminal on your laptop (ctrl+alt+t = will open a new terminal window)

3- you can connect as many terminal windows to baxter as you want,

to connect a window in terminal to baxter

cd /ros_ws

./baxter.sh

to open a new window in terminal

ctrl+shift+t

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First thing to do after connecting to baxter

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!!! WARNING !!! Baxter will MOVE its arms after executing the next commands.

In a window connected to Baxter,

to untuck baxter's arms (move the arms in front of baxter)

 rosrun baxter_tool tuck_arms.py -u

to tuck baxter's arms (move the arms behind baxter)

 rosrun baxter_tool tuck_arms.py -t

??? Debug ???

In case the arms don't move or you get an error,

1- make sure Robotics network is connected.

2- make sure the window you are using is connected

3- make sure the emergency button (red and yellow button connected to Baxter) is released

4- do this

rosrun baxter_tools enable_robot.py -e

5- if both are connected, restart Baxter by pressing the white power button untill its OFF, then switch it ON again.

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prepare the scene

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1- set up the table

2- place the A3 paper board which has 9 squares

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Calibrate the object colours

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You probably need this part only once every few hours, as long as the light don't change a lot.

1- place a few green block and a few blue block

2- on a window that is connected to baxter run

  rosrun fyp Object_finder.py

drag the different bars to detect only the green objects first, then the blue objects.

once finished hit "done" bar

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3D TIC TAC TOE

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make sure to untuck Baxter arms as explained above.

to start a game,

1- clear the board

2- run the following line on a window that is connected to baxter,

--- rosrun fyp New3DtictacBaxter.py

to stop the game,

--- ctrl+c on the same window

--- if it doesn't stop use (ctrl+)

--- if it doesn't work restart laptop