Setting up an External IDE
This guide will help you understand why switching to a modern programming environment (or IDE) can make things easier—and show you a simple way to get started.
Why Use a Modern IDE for Robotics?
In robot competitions like Botball, we use a tool called the KISS IDE. It’s good for beginners, but it’s basic. When your projects grow, you’ll find that more advanced IDEs can save time, prevent errors, and even help you make your robot perform better. For instance, Visual Studio Code (or VS Code) is one modern IDE that’s flexible, free, and easy to learn.
Modern IDEs like VS Code offer:
Code Checking: They can help spot mistakes before you run the code, which saves time and frustration.
File Organization: You can organize different parts of your project, making it easy to find things.
Debugging: They have tools to help you figure out why your robot isn’t working as expected.
Steps to Get Started: A Simple Path to Success
Let’s break down a clear, straightforward way to set up your modern IDE and get it working with your Botball robot.
Step 1: Pick and Install Your IDE
Choose VS Code: Visual Studio Code (VS Code) is free and very popular. It’s available on Windows, Mac, and Linux.
You can download it here.
Install the C/C++ Extension: To work with the language Botball robots use, you’ll need this extension. In VS Code:
Go to the Extensions tab on the left (it looks like a square icon).
Search for “C/C++” and click “Install.”
Step 2: Connect to Your Robot’s Controller (the Wombat)
Your Botball robot’s “brain,” the Wombat, has a controller that runs your programs. To send code to the Wombat, you need to connect to it over a network.
Find the Wombat’s Network Info:
The Wombat creates its own Wi-Fi network. Look at the Wombat’s settings for the network name (SSID) and password.
Connect Using SSH:
SSH (Secure Shell) is a way to access the Wombat from your computer.
Once you connect to the Wombat’s network, open a terminal or command prompt on your computer and type:
ssh kipr@192.168.125.1Replace “192.168.125.1” with the Wombat’s actual IP address, if different. Enter the password when prompted. This connects you to the Wombat’s command line, where you can send files and run commands. The default password for the kipr user is
botball
Step 3: Cross-Compile Your Code on Your Computer
Cross-compiling allows you to compile your code on your powerful computer, generating executables that run on the Wombat’s ARM-based processor. This process is faster and more efficient than compiling directly on the Wombat.
What is Cross-Compiling?
Why Use Cross-Compilation?
Speed: Compiling on your computer is significantly faster.
Efficiency: Leverage your computer’s resources for better performance.
Convenience: Integrate seamlessly with modern IDEs and development workflows.
Overview of what's happening
Figure: Overview of the cross-compilation process using Docker.
The required files will eb transferred from your wombat onto your computer. This has already been done by Clemens Koza in the wombat-cross GitHub repo. This repo makes it easier to set up this complex process.
Once the files are on your device, they get combined with your program to create the executable the wombat can understand. This is then put back on the wombat and gets executed.
Running Cross-Compilation
As already mentioned, using wombat-cross is the approach used in this guide to set up cross compilation. It already preconfigures many things, making it easier to get started with cross compiling for the wombat.
Follow the instructions on https://github.com/PRIArobotics/wombat-cross to setup your own cross compilation
Additional Resources
wombat-cross GitHub Repository: https://github.com/PRIArobotics/wombat-cross
Docker Documentation: https://docs.docker.com/get-started/
Step 4: Copying Your Compiled Code to the Wombat
After compiling your code on your computer, the next step is to transfer it to the Wombat so it can be executed on the robot. Here’s a simple way to do this using SCP (Secure Copy Protocol), which allows you to securely send files over the network.
What You’ll Need
Wombat Network Information: The Wombat creates its own Wi-Fi network, and you’ll need to connect to it first.
SCP Tool: Most systems have SCP built-in (available in Mac, Linux, and Windows through PowerShell or with an SSH client installed).
Step-by-Step Guide for Transferring Files
Connect to the Wombat’s Network
Open the Wi-Fi settings on your computer.
Find and connect to the Wombat’s network. The network name (SSID) and password can typically be found in the Wombat’s settings or user guide.
Open a Terminal or Command Prompt
You’ll be using the
scpcommand to transfer files. Open your terminal (on Linux or Mac) or command prompt (on Windows with SSH support).
Get the Wombat’s IP Address
In most cases, the Wombat’s IP address on its network is
192.168.125.1. If it’s different, you can find it on the Wombat’s network settings page or by checking the connection details on your computer.
Determine the Target Path on the Wombat
To run your program on the Wombat, you’ll need to upload it to a specific folder. Typically, this is the Wombat’s project directory. The general path for a new project created in the KISS IDE on the Wombat is:
/home/kipr/KISS/projects/[projectName]/buildReplace
[projectName]with the name of the project you created in the KISS IDE. If you don’t have a project yet, open the KISS IDE on the Wombat, create a new project, and note the project name.
Transfer the File Using SCP
Now that you have the IP address and project path, you’re ready to send the file.
Assuming your compiled file is named
robot_program, use this command to transfer it:scp robot_program kipr@192.168.125.1:/home/kipr/KISS/projects/[projectName]/buildReplace
robot_programwith your actual file name and[projectName]with your project’s name.Enter the Password: When prompted, enter the password for the Wombat (default is often
botballunless it was changed).
Verify the Transfer
To check if the file transferred successfully, you can SSH into the Wombat (as described earlier) and navigate to the target directory:
ssh kipr@192.168.125.1 cd /home/kipr/KISS/projects/[projectName]/build lsYou should see your
robot_programfile listed in the directory.
Step 5: Run and Test Your Code
Now that your program is on the Wombat, you can test it directly on the robot. Go to the Wombat’s project folder and run it. This is the fun part—watching your robot follow your commands!
Start the Program via the Wombat’s UI
Once the file is in the correct folder, you can start the program directly from the Wombat’s user interface:
On the Wombat, open the KISS IDE, navigate to your project, and you should see the program ready to run.
Alternatively, Run the Program via SSH
If you prefer running it directly from the command line:
SSH into the Wombat, navigate to the project folder, and run it:
./robot_program
This command will execute your program on the Wombat, allowing you to see how it performs on the robot.
By following these steps, you’ll successfully transfer, locate, and run your compiled code on the Wombat, making it easier to test and adjust your robot’s performance. This setup helps create a smooth workflow for programming and iterating on your robot!
Further Technical Details
For more details, check out the full paper here, which explains this method and other helpful tips for working with robotics! It includes different cross compiling strategies with their performances compared.
Paper
Authors
Tobias Madlberger