blog/tags/robot/index.html

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  13  <h1>
  14      <a href="https://people.skolelinux.org/pere/blog/">Petter Reinholdtsen</a>
  15
  16  </h1>
  17
  18 </div>
  19
  20
  21     <h3>Entries tagged "robot".</h3>
  22
  23     <div class="entry">
  24       <div class="title">
  25         <a href="https://people.skolelinux.org/pere/blog/LinuxCNC_MQTT_publisher_component.html">LinuxCNC MQTT publisher component</a>
  26       </div>
  27       <div class="date">
  28          8th January 2023
  29       </div>
  30       <div class="body">
  31         <p>I watched <a href="https://yewtu.be/watch?v=jmKUV3aNLjk">a 2015
  32 video from Andreas Schiffler</a> the other day, where he set up
  33 <a href="https://linuxcnc.org/">LinuxCNC</a> to send status
  34 information to the MQTT broker IBM Bluemix.  As I also use MQTT for
  35 graphing, it occured to me that a generic MQTT LinuxCNC component
  36 would be useful and I set out to implement it.  Today I got the first
  37 draft limping along and submitted as
  38 <a href="https://github.com/LinuxCNC/linuxcnc/pull/2253">a patch to the
  39 LinuxCNC project</a>.</p>
  40
  41 <p>The simple part was setting up the MQTT publishing code in Python.
  42 I already have set up other parts submitting data to my Mosquito MQTT
  43 broker, so I could reuse that code.  Writing a LinuxCNC component in
  44 Python as new to me, but using existing examples in the code
  45 repository and the extensive documentation, this was fairly straight
  46 forward.  The hardest part was creating a automated test for the
  47 component to ensure it was working.  Testing it in a simulated
  48 LinuxCNC machine proved very useful, as I discovered features I needed
  49 that I had not thought of yet, and adjusted the code quite a bit to
  50 make it easier to test without a operational MQTT broker
  51 available.</p>
  52
  53 <p>The draft is ready and working, but I am unsure which LinuxCNC HAL
  54 pins I should collect and publish by default (in other words, the
  55 default set of information pieces published), and how to get the
  56 machine name from the LinuxCNC INI file.  The latter is a minor
  57 detail, but I expect it would be useful in a setup with several
  58 machines available.  I am hoping for feedback from the experienced
  59 LinuxCNC developers and users, to make the component even better
  60 before it can go into the mainland LinuxCNC code base.</p>
  61
  62 <p>Since I started on the MQTT component, I came across
  63 <a href="https://yewtu.be/watch?v=Bqa2grG0XtA">another video from Kent
  64 VanderVelden</a> where he combine LinuxCNC with a set of screen glasses
  65 controlled by a Raspberry Pi, and it occured to me that it would
  66 be useful for such use cases if LinuxCNC also provided a REST API for
  67 querying its status.  I hope to start on such component once the MQTT
  68 component is working well.</p>
  69
  70 <p>As usual, if you use Bitcoin and want to show your support of my
  71 activities, please send Bitcoin donations to my address
  72 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
  73
  74       </div>
  75       <div class="tags">
  76
  77
  78         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
  79
  80
  81       </div>
  82     </div>
  83     <div class="padding"></div>
  84
  85     <div class="entry">
  86       <div class="title">
  87         <a href="https://people.skolelinux.org/pere/blog/Automatic_LinuxCNC_servo_PID_tuning_.html">Automatic LinuxCNC servo PID tuning?</a>
  88       </div>
  89       <div class="date">
  90         16th July 2022
  91       </div>
  92       <div class="body">
  93         <p>While working on a CNC with servo motors controlled by the
  94 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a>
  95 <a href="https://en.wikipedia.org/wiki/PID_controller">PID
  96 controller</a>, I recently had to learn how to tune the collection of values
  97 that control such mathematical machinery that a PID controller is.  It
  98 proved to be a lot harder than I hoped, and I still have not succeeded
  99 in getting the Z PID controller to successfully defy gravity, nor X
 100 and Y to move accurately and reliably.  But while climbing up this
 101 rather steep learning curve, I discovered that some motor control
 102 systems are able to tune their PID controllers.  I got the impression
 103 from the documentation that LinuxCNC were not.  This proved to be not
 104 true.</p>
 105
 106 <p>The LinuxCNC
 107 <a href="http://linuxcnc.org/docs/html/man/man9/pid.9.html">pid
 108 component</a> is the recommended PID controller to use.  It uses eight
 109 constants <tt>Pgain</tt>, <tt>Igain</tt>, <tt>Dgain</tt>,
 110 <tt>bias</tt>, <tt>FF0</tt>, <tt>FF1</tt>, <tt>FF2</tt> and
 111 <tt>FF3</tt> to calculate the output value based on current and wanted
 112 state, and all of these need to have a sensible value for the
 113 controller to behave properly.  Note, there are even more values
 114 involved, theser are just the most important ones.  In my case I need
 115 the X, Y and Z axes to follow the requested path with little error.
 116 This has proved quite a challenge for someone who have never tuned a
 117 PID controller before, but there is at least some help to be found.
 118
 119 <p>I discovered that included in LinuxCNC was this old PID component
 120 at_pid claiming to have auto tuning capabilities.  Sadly it had been
 121 neglected since 2011, and could not be used as a plug in replacement
 122 for the default pid component.  One would have to rewriting the
 123 LinuxCNC HAL setup to test at_pid.  This was rather sad, when I wanted
 124 to quickly test auto tuning to see if it did a better job than me at
 125 figuring out good P, I and D values to use.</p>
 126
 127 <p>I decided to have a look if the situation could be improved.  This
 128 involved trying to understand the code and history of the pid and
 129 at_pid components.  Apparently they had a common ancestor, as code
 130 structure, comments and variable names were quite close to each other.
 131 Sadly this was not reflected in the git history, making it hard to
 132 figure out what really happened.  My guess is that the author of
 133 <a href="https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/at_pid.c">at_pid.c</a>
 134 took a version of
 135 <a href="https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/pid.c">pid.c</a>,
 136 rewrote it to follow the structure he wished pid.c to have, then added
 137 support for auto tuning and finally got it included into the LinuxCNC
 138 repository.  The restructuring and lack of early history made it
 139 harder to figure out which part of the code were relevant to the auto
 140 tuning, and which part of the code needed to be updated to work the
 141 same way as the current pid.c implementation.  I started by trying to
 142 isolate relevant changes in pid.c, and applying them to at_pid.c.  My
 143 aim was to make sure the at_pid component could replace the pid
 144 component with a simple change in the HAL setup loadrt line, without
 145 having to "rewire" the rest of the HAL configuration.  After a few
 146 hours following this approach, I had learned quite a lot about the
 147 code structure of both components, while concluding I was heading down
 148 the wrong rabbit hole, and should get back to the surface and find a
 149 different path.</p>
 150
 151 <p>For the second attempt, I decided to throw away all the PID control
 152 related part of the original at_pid.c, and instead isolate and lift
 153 the auto tuning part of the code and inject it into a copy of pid.c.
 154 This ensured compatibility with the current pid component, while
 155 adding auto tuning as a run time option.  To make it easier to identify
 156 the relevant parts in the future, I wrapped all the auto tuning code
 157 with '#ifdef AUTO_TUNER'.  The end result behave just like the current
 158 pid component by default, as that part of the code is identical.  The
 159 <a href="https://github.com/LinuxCNC/linuxcnc/pull/1820">end result
 160 entered the LinuxCNC master branch</a> a few days ago.</p>
 161
 162 <p>To enable auto tuning, one need to set a few HAL pins in the PID
 163 component.  The most important ones are <tt>tune-effort</tt>,
 164 <tt>tune-mode</tt> and <tt>tune-start</tt>.  But lets take a step
 165 back, and see what the auto tuning code will do.  I do not know the
 166 mathematical foundation of the at_pid algorithm, but from observation
 167 I can tell that the algorithm will, when enabled, produce a square
 168 wave pattern centered around the <tt>bias</tt> value on the output pin
 169 of the PID controller.  This can be seen using the HAL Scope provided
 170 by LinuxCNC.  In my case, this is translated into voltage (+-10V) sent
 171 to the motor controller, which in turn is translated into motor speed.
 172 So at_pid will ask the motor to move the axis back and forth.  The
 173 number of cycles in the pattern is controlled by the
 174 <tt>tune-cycles</tt> pin, and the extremes of the wave pattern is
 175 controlled by the <tt>tune-effort</tt> pin.  Of course, trying to
 176 change the direction of a physical object instantly (as in going
 177 directly from a positive voltage to the equivalent negative voltage)
 178 do not change velocity instantly, and it take some time for the object
 179 to slow down and move in the opposite direction.  This result in a
 180 more smooth movement wave form, as the axis in question were vibrating
 181 back and forth.  When the axis reached the target speed in the
 182 opposing direction, the auto tuner change direction again.  After
 183 several of these changes, the average time delay between the 'peaks'
 184 and 'valleys' of this movement graph is then used to calculate
 185 proposed values for Pgain, Igain and Dgain, and insert them into the
 186 HAL model to use by the pid controller.  The auto tuned settings are
 187 not great, but htye work a lot better than the values I had been able
 188 to cook up on my own, at least for the horizontal X and Y axis.  But I
 189 had to use very small <tt>tune-effort<tt> values, as my motor
 190 controllers error out if the voltage change too quickly.  I've been
 191 less lucky with the Z axis, which is moving a heavy object up and
 192 down, and seem to confuse the algorithm.  The Z axis movement became a
 193 lot better when I introduced a <tt>bias</tt> value to counter the
 194 gravitational drag, but I will have to work a lot more on the Z axis
 195 PID values.</p>
 196
 197 <p>Armed with this knowledge, it is time to look at how to do the
 198 tuning.  Lets say the HAL configuration in question load the PID
 199 component for X, Y and Z like this:</p>
 200
 201 <blockquote><pre>
 202 loadrt pid names=pid.x,pid.y,pid.z
 203 </pre></blockquote>
 204
 205 <p>Armed with the new and improved at_pid component, the new line will
 206 look like this:</p>
 207
 208 <blockquote><pre>
 209 loadrt at_pid names=pid.x,pid.y,pid.z
 210 </pre></blockquote>
 211
 212 <p>The rest of the HAL setup can stay the same.  This work because the
 213 components are referenced by name.  If the component had used count=3
 214 instead, all use of pid.# had to be changed to at_pid.#.</p>
 215
 216 <p>To start tuning the X axis, move the axis to the middle of its
 217 range, to make sure it do not hit anything when it start moving back
 218 and forth.  Next, set the <tt>tune-effort</tt> to a low number in the
 219 output range.  I used 0.1 as my initial value.  Next, assign 1 to the
 220 <tt>tune-mode</tt> value. Note, this will disable the pid controlling
 221 part and feed 0 to the output pin, which in my case initially caused a
 222 lot of drift.  In my case it proved to be a good idea with X and Y to
 223 tune the motor driver to make sure 0 voltage stopped the motor
 224 rotation.  On the other hand, for the Z axis this proved to be a bad
 225 idea, so it will depend on your setup.  It might help to set the
 226 <tt>bias</tt> value to a output value that reduce or eliminate the
 227 axis drift.  Finally, after setting <tt>tune-mode</tt>, set
 228 <tt>tune-start</tt> to 1 to activate the auto tuning.  If all go well,
 229 your axis will vibrate for a few seconds and when it is done, new
 230 values for Pgain, Igain and Dgain will be active.  To test them,
 231 change <tt>tune-mode</tt> back to 0.  Note that this might cause the
 232 machine to suddenly jerk as it bring the axis back to its commanded
 233 position, which it might have drifted away from during tuning.  To
 234 summarize with some halcmd lines:</p>
 235
 236 <blockquote><pre>
 237 setp pid.x.tune-effort 0.1
 238 setp pid.x.tune-mode 1
 239 setp pid.x.tune-start 1
 240 # wait for the tuning to complete
 241 setp pid.x.tune-mode 0
 242 </pre></blockquote>
 243
 244 <p>After doing this task quite a few times while trying to figure out
 245 how to properly tune the PID controllers on the machine in, I decided
 246 to figure out if this process could be automated, and wrote a script
 247 to do the entire tuning process from power on.  The end result will
 248 ensure the machine is powered on and ready to run, home all axis if it
 249 is not already done, check that the extra tuning pins are available,
 250 move the axis to its mid point, run the auto tuning and re-enable the
 251 pid controller when it is done.  It can be run several times.  Check
 252 out the
 253 <a href="https://github.com/SebKuzminsky/MazakVQC1540/blob/bon-dev/scripts/run-auto-pid-tuner">run-auto-pid-tuner</a>
 254 script on github if you want to learn how it is done.</p>
 255
 256 <p>My hope is that this little adventure can inspire someone who know
 257 more about motor PID controller tuning can implement even better
 258 algorithms for automatic PID tuning in LinuxCNC, making life easier
 259 for both me and all the others that want to use LinuxCNC but lack the
 260 in depth knowledge needed to tune PID controllers well.</p>
 261
 262 <p>As usual, if you use Bitcoin and want to show your support of my
 263 activities, please send Bitcoin donations to my address
 264 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 265
 266       </div>
 267       <div class="tags">
 268
 269
 270         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer</a>, <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 271
 272
 273       </div>
 274     </div>
 275     <div class="padding"></div>
 276
 277     <div class="entry">
 278       <div class="title">
 279         <a href="https://people.skolelinux.org/pere/blog/LinuxCNC_translators_life_just_got_a_bit_easier.html">LinuxCNC translators life just got a bit easier</a>
 280       </div>
 281       <div class="date">
 282          3rd June 2022
 283       </div>
 284       <div class="body">
 285         <p>Back in oktober last year, when I started looking at the
 286 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a> system, I
 287 proposed to change the documentation build system make life easier for
 288 translators.  The original system consisted of independently written
 289 documentation files for each language, with no automated way to track
 290 changes done in other translations and no help for the translators to
 291 know how much was left to translated.  By using
 292 <a href="https://po4a.org/">the po4a system</a> to generate POT and PO
 293 files from the English documentation, this can be improved.  A small
 294 team of LinuxCNC contributors got together and today our labour
 295 finally payed off.  Since a few hours ago, it is now possible to
 296 translate <a href="https://hosted.weblate.org/projects/linuxcnc/">the
 297 LinuxCNC documentation on Weblate</a>, alongside the program itself.</p>
 298
 299 <p>The effort to migrate the documentation to use po4a has been both
 300 slow and frustrating.  I am very happy we finally made it.</p>
 301
 302 <p>As usual, if you use Bitcoin and want to show your support of my
 303 activities, please send Bitcoin donations to my address
 304 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 305
 306       </div>
 307       <div class="tags">
 308
 309
 310         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer</a>, <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 311
 312
 313       </div>
 314     </div>
 315     <div class="padding"></div>
 316
 317     <div class="entry">
 318       <div class="title">
 319         <a href="https://people.skolelinux.org/pere/blog/Run_your_industrial_metal_working_machine_using_Debian_.html">Run your industrial metal working machine using Debian?</a>
 320       </div>
 321       <div class="date">
 322          2nd March 2022
 323       </div>
 324       <div class="body">
 325         <p>After many months of hard work by the good people involved in
 326 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a>, the
 327 system was accepted Sunday
 328 <a href="https://tracker.debian.org/pkg/linuxcnc">into Debian</a>.
 329 Once it was available from Debian, I was surprised to discover from
 330 <a href="https://qa.debian.org/popcon.php?package=linuxcnc">its
 331 popularity-contest numbers</a> that people have been reporting its use
 332 since 2012.  <a href="http://linuxcnc.org/">Its project site</a> might
 333 be a good place to check out, but sadly is not working when visiting
 334 via Tor.</p>
 335
 336 <p>But what is LinuxCNC, you are probably wondering?  Perhaps a
 337 Wikipedia quote is in place?</p>
 338
 339 <blockquote>
 340 "LinuxCNC is a software system for numerical control of
 341 machines such as milling machines, lathes, plasma cutters, routers,
 342 cutting machines, robots and hexapods. It can control up to 9 axes or
 343 joints of a CNC machine using G-code (RS-274NGC) as input. It has
 344 several GUIs suited to specific kinds of usage (touch screen,
 345 interactive development)."
 346 </blockquote>
 347
 348 <p>It can even control 3D printers.  And even though the Wikipedia
 349 page indicate that it can only work with hard real time kernel
 350 features, it can also work with the user space soft real time features
 351 provided by the Debian kernel.
 352 <a href="https://github.com/linuxcnc/linuxcnc">The source code</a> is
 353 available from Github.  The last few months I've been involved in the
 354 translation setup for the program and documentation.  Translators are
 355 most welcome to
 356 <a href="https://hosted.weblate.org/engage/linuxcnc/">join the
 357 effort</a> using Weblate.</p>
 358
 359 <p>As usual, if you use Bitcoin and want to show your support of my
 360 activities, please send Bitcoin donations to my address
 361 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 362
 363       </div>
 364       <div class="tags">
 365
 366
 367         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer</a>, <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 368
 369
 370       </div>
 371     </div>
 372     <div class="padding"></div>
 373
 374     <div class="entry">
 375       <div class="title">
 376         <a href="https://people.skolelinux.org/pere/blog/Debian_still_an_excellent_choice_for_Lego_builders.html">Debian still an excellent choice for Lego builders</a>
 377       </div>
 378       <div class="date">
 379         24th October 2021
 380       </div>
 381       <div class="body">
 382         <p>The Debian Lego team saw a lot of activity the last few weeks.  All
 383 the packages under the team umbrella has been updated to fix
 384 packaging, lintian issues and BTS reports.  In addition, a new and
 385 inspiring team member appeared on both the
 386 <a href="https://alioth-lists.debian.net/cgi-bin/mailman/listinfo/debian-lego-team">debian-lego-team
 387 Team mailing list</a> and
 388 <a href="irc://irc.debian.org/%23debian-lego">IRC channel
 389 #debian-lego</a>.  If you are interested in Lego CAD design and LEGO
 390 Mindstorms programming, check out the
 391 <a href="http://wiki.debian.org/LegoDesigners">team wiki page</a> to
 392 see what Debian can offer the Lego enthusiast.</p>
 393
 394 <p>Patches has been sent upstream, causing new upstream releases, one
 395 even the first one in more than ten years, and old upstreams was
 396 released with new ones.  There are still a lot of work left, and the
 397 team welcome more members to help us make sure Debian is the Linux
 398 distribution of choice for Lego builders.  If you want to contribute,
 399 join us in the IRC channel and become part of
 400 <a href="https://salsa.debian.org/debian-lego-team/">the team on
 401 Salsa</a>.</p>
 402
 403 <p>As usual, if you use Bitcoin and want to show your support of my
 404 activities, please send Bitcoin donations to my address
 405 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 406
 407       </div>
 408       <div class="tags">
 409
 410
 411         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/lego">lego</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 412
 413
 414       </div>
 415     </div>
 416     <div class="padding"></div>
 417
 418     <div class="entry">
 419       <div class="title">
 420         <a href="https://people.skolelinux.org/pere/blog/The_space_rover_coquine__or_how_I_ended_up_on_the_dark_side_of_the_moon.html">The space rover coquine, or how I ended up on the dark side of the moon</a>
 421       </div>
 422       <div class="date">
 423          2nd June 2019
 424       </div>
 425       <div class="body">
 426         <p>A while back a college and friend from Debian and the Skolelinux /
 427 Debian Edu project approached me, asking if I knew someone that might
 428 be interested in helping out with a technology project he was running
 429 as a teacher at <a href="https://www.ecolefrancodanoise.dk/">L'école
 430 franco-danoise</a> - the Danish-French school and kindergarden.  The
 431 kids were building robots, rovers.  The story behind it is to build a
 432 rover for use
 433 <a href="http://blog.ecolefrancodanoise.dk/first-week-on-the-dark-side">on
 434 the dark side of the moon</a>, and remote control it.  As travel cost
 435 was a bit high for the final destination, and they wanted to test the
 436 concept first, he was looking for volunteers to host a rover for the
 437 kids to control in a foreign country.  I ended up volunteering as a
 438 host, and last week the rover arrived.  It took a while to arrive
 439 after <a href="http://blog.ecolefrancodanoise.dk/model-moms">it was
 440 built and shipped</a>, because of customs confusion.  Luckily we were
 441 able fix it quickly with help from my colleges at work.</p>
 442
 443 <p>This is what it looked like when the rover arrived.  Note the cute
 444 eyes looking up on me from the wrapping</p>
 445
 446 <img src="https://people.skolelinux.org/pere/blog/images/2019-06-02-robot-dark-side-of-moon-esken-med-det-rare-i.jpeg" width="32%" style="clear:left"/>
 447 <img src="https://people.skolelinux.org/pere/blog/images/2019-06-02-robot-dark-side-of-moon-den-ser-meg.jpeg" width="32%" style="clear:left"/>
 448 <img src="https://people.skolelinux.org/pere/blog/images/2019-06-02-robot-dark-side-of-moon-en-skrue-loes.jpeg" width="32%" style="clear:left"/>
 449
 450 <p style="text-align:left">Once the robot arrived, we needed to track
 451 down batteries and figure out how to build custom firmware for it with
 452 the appropriate wifi settings.  I asked a friend if I could get two
 453 18650 batteries from his pile of Tesla batteries (he had them from the
 454 wrack of a crashed Tesla), so now the rover is running on Tesla
 455 batteries.</p>
 456
 457 <p>Building
 458 <a href="https://gitlab.com/ecolefrancodanoise/arduino-efd/">the rover
 459 firmware</a> proved a bit harder, as the code did not work out of the
 460 box with the Arduino IDE package in Debian Buster.  I suspect this is
 461 due to a unsolved
 462 <a href="https://github.com/arduino/Arduino/pull/2703"> license problem
 463 with arduino</a> blocking Debian from upgrading to the latest version.
 464 In the end we gave up debugging why the IDE failed to find the
 465 required libraries, and ended up using the Arduino Makefile from the
 466 <a href="https://tracker.debian.org/pkg/arduino-mk">arduino-mk Debian
 467 package</a> instead.  Unfortunately the camera library is missing from
 468 the Arduino environment in Debian, so we disabled the camera support
 469 for the first firmware build, to get something up and running.  With
 470 this reduced firmware, the robot could be controlled via the
 471 controller server, driving around and measuring distance using its
 472 internal acoustic sensor.</p>
 473
 474 <p>Next, With some help from my friend in Denmark, which checked in the
 475 camera library into the gitlab repository for me to use, we were able
 476 to build a new and more complete version of the firmware, and the
 477 robot is now up and running.  This is what the "commander" web page
 478 look like after taking a measurement and a snapshot:</p>
 479
 480 <img src="https://people.skolelinux.org/pere/blog/images/2019-06-02-robot-dark-side-of-moon-commander.png" width="40%" border="1" align="center"/>
 481
 482 <p>If you want to learn more about this project, you can check out the
 483 <a href="https://hackaday.io/project/164082-the-dark-side-challenge">The
 484 Dark Side Challenge</a> Hackaday web pages.</p>
 485
 486 <p>As usual, if you use Bitcoin and want to show your support of my
 487 activities, please send Bitcoin donations to my address
 488 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 489
 490       </div>
 491       <div class="tags">
 492
 493
 494         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 495
 496
 497       </div>
 498     </div>
 499     <div class="padding"></div>
 500
 501     <div class="entry">
 502       <div class="title">
 503         <a href="https://people.skolelinux.org/pere/blog/Debian_now_got_everything_you_need_to_program_Micro_bit.html">Debian now got everything you need to program Micro:bit</a>
 504       </div>
 505       <div class="date">
 506         22nd January 2019
 507       </div>
 508       <div class="body">
 509         <p>I am amazed and very pleased to discover that since a few days ago,
 510 everything you need to program the <a href="https://microbit.org/">BBC
 511 micro:bit</a> is available from the Debian archive.  All this is
 512 thanks to the hard work of Nick Morrott and the Debian python
 513 packaging team.  The micro:bit project recommend the mu-editor to
 514 program the microcomputer, as this editor will take care of all the
 515 machinery required to injekt/flash micropython alongside the program
 516 into the micro:bit, as long as the pieces are available.</p>
 517
 518 <p>There are three main pieces involved.  The first to enter Debian
 519 was
 520 <a href="https://tracker.debian.org/pkg/python-uflash">python-uflash</a>,
 521 which was accepted into the archive 2019-01-12.  The next one was
 522 <a href="https://tracker.debian.org/pkg/mu-editor">mu-editor</a>, which
 523 showed up 2019-01-13.  The final and hardest part to to into the
 524 archive was
 525 <a href="https://tracker.debian.org/pkg/firmware-microbit-micropython">firmware-microbit-micropython</a>,
 526 which needed to get its build system and dependencies into Debian
 527 before it was accepted 2019-01-20.  The last one is already in Debian
 528 Unstable and should enter Debian Testing / Buster in three days.  This
 529 all allow any user of the micro:bit to get going by simply running
 530 'apt install mu-editor' when using Testing or Unstable, and once
 531 Buster is released as stable, all the users of Debian stable will be
 532 catered for.</p>
 533
 534 <p>As a minor final touch, I added rules to
 535 <a href="https://tracker.debian.org/pkg/isenkram">the isenkram
 536 package</a> for recognizing micro:bit and recommend the mu-editor
 537 package.  This make sure any user of the isenkram desktop daemon will
 538 get a popup suggesting to install mu-editor then the USB cable from
 539 the micro:bit is inserted for the first time.</p>
 540
 541 <p>This should make it easier to have fun.</p>
 542
 543 <p>As usual, if you use Bitcoin and want to show your support of my
 544 activities, please send Bitcoin donations to my address
 545 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 546
 547       </div>
 548       <div class="tags">
 549
 550
 551         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 552
 553
 554       </div>
 555     </div>
 556     <div class="padding"></div>
 557
 558     <div class="entry">
 559       <div class="title">
 560         <a href="https://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html">My own self balancing Lego Segway</a>
 561       </div>
 562       <div class="date">
 563          4th November 2016
 564       </div>
 565       <div class="body">
 566         <p>A while back I received a Gyro sensor for the NXT
 567 <a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
 568 present.  It had been on my wishlist for a while, because I wanted to
 569 build a Segway like balancing lego robot.  I had already built
 570 <a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
 571 robot</a> with the kids, using the light/color sensor included in the
 572 NXT kit as the balance sensor, but it was not working very well.  It
 573 could balance for a while, but was very sensitive to the light
 574 condition in the room and the reflective properties of the surface and
 575 would fall over after a short while.  I wanted something more robust,
 576 and had
 577 <a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
 578 gyro sensor from HiTechnic</a> I believed would solve it on my
 579 wishlist for some years before it suddenly showed up as a gift from my
 580 loved ones. :)</p>
 581
 582 <p>Unfortunately I have not had time to sit down and play with it
 583 since then.  But that changed some days ago, when I was searching for
 584 lego segway information and came across a recipe from HiTechnic for
 585 building
 586 <a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
 587 HTWay</a>, a segway like balancing robot.  Build instructions and
 588 <a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
 589 code</a> was included, so it was just a question of putting it all
 590 together.  And thanks to the great work of many Debian developers, the
 591 compiler needed to build the source for the NXT is already included in
 592 Debian, so I was read to go in less than an hour.  The resulting robot
 593 do not look very impressive in its simplicity:</p>
 594
 595 <p align="center"><img width="70%" src="https://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
 596
 597 <p>Because I lack the infrared sensor used to control the robot in the
 598 design from HiTechnic, I had to comment out the last task
 599 (taskControl).  I simply placed /* and */ around it get the program
 600 working without that sensor present.  Now it balances just fine until
 601 the battery status run low:</p>
 602
 603 <p align="center"><video width="70%" controls="true">
 604    <source src="https://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
 605 </video></p>
 606
 607 <p>Now we would like to teach it how to follow a line and take remote
 608 control instructions using the included Bluetooth receiver in the NXT.</p>
 609
 610 <p>If you, like me, love LEGO and want to make sure we find the tools
 611 they need to work with LEGO in Debian and all our derivative
 612 distributions like Ubuntu, check out
 613 <a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
 614 project page</a> and join the Debian LEGO team.  Personally I own a
 615 RCX and NXT controller (no EV3), and would like to make sure the
 616 Debian tools needed to program the systems I own work as they
 617 should.</p>
 618
 619       </div>
 620       <div class="tags">
 621
 622
 623         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/lego">lego</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 624
 625
 626       </div>
 627     </div>
 628     <div class="padding"></div>
 629
 630     <div class="entry">
 631       <div class="title">
 632         <a href="https://people.skolelinux.org/pere/blog/All_drones_should_be_radio_marked_with_what_they_do_and_who_they_belong_to.html">All drones should be radio marked with what they do and who they belong to</a>
 633       </div>
 634       <div class="date">
 635         21st November 2013
 636       </div>
 637       <div class="body">
 638         <p>Drones, flying robots, are getting more and more popular.  The most
 639 know ones are the killer drones used by some government to murder
 640 people they do not like without giving them the chance of a fair
 641 trial, but the technology have many good uses too, from mapping and
 642 forest maintenance to photography and search and rescue.  I am sure it
 643 is just a question of time before "bad drones" are in the hands of
 644 private enterprises and not only state criminals but petty criminals
 645 too.  The drone technology is very useful and very dangerous.  To have
 646 some control over the use of drones, I agree with Daniel Suarez in his
 647 TED talk
 648 "<a href="https://archive.org/details/DanielSuarez_2013G">The kill
 649 decision shouldn't belong to a robot</a>", where he suggested this
 650 little gem to keep the good while limiting the bad use of drones:</p>
 651
 652 <blockquote>
 653
 654 <p>Each robot and drone should have a cryptographically signed
 655 I.D. burned in at the factory that can be used to track its movement
 656 through public spaces. We have license plates on cars, tail numbers on
 657 aircraft. This is no different. And every citizen should be able to
 658 download an app that shows the population of drones and autonomous
 659 vehicles moving through public spaces around them, both right now and
 660 historically. And civic leaders should deploy sensors and civic drones
 661 to detect rogue drones, and instead of sending killer drones of their
 662 own up to shoot them down, they should notify humans to their
 663 presence. And in certain very high-security areas, perhaps civic
 664 drones would snare them and drag them off to a bomb disposal facility.</p>
 665
 666 <p>But notice, this is more an immune system than a weapons system. It
 667 would allow us to avail ourselves of the use of autonomous vehicles
 668 and drones while still preserving our open, civil society.</p>
 669
 670 </blockquote>
 671
 672 <p>The key is that <em>every citizen</em> should be able to read the
 673 radio beacons sent from the drones in the area, to be able to check
 674 both the government and others use of drones.  For such control to be
 675 effective, everyone must be able to do it.  What should such beacon
 676 contain?  At least formal owner, purpose, contact information and GPS
 677 location.  Probably also the origin and target position of the current
 678 flight.  And perhaps some registration number to be able to look up
 679 the drone in a central database tracking their movement.  Robots
 680 should not have privacy.  It is people who need privacy.</p>
 681
 682       </div>
 683       <div class="tags">
 684
 685
 686         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>, <a href="https://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet</a>, <a href="https://people.skolelinux.org/pere/blog/tags/surveillance">surveillance</a>.
 687
 688
 689       </div>
 690     </div>
 691     <div class="padding"></div>
 692
 693     <div class="entry">
 694       <div class="title">
 695         <a href="https://people.skolelinux.org/pere/blog/Perl_library_to_control_the_Spykee_robot_moved_to_github.html">Perl library to control the Spykee robot moved to github</a>
 696       </div>
 697       <div class="date">
 698         19th October 2013
 699       </div>
 700       <div class="body">
 701         <p>Back in 2010, I created a Perl library to talk to
 702 <a href="http://en.wikipedia.org/wiki/Spykee">the Spykee robot</a>
 703 (with two belts, wifi, USB and Linux) and made it available from my
 704 web page.  Today I concluded that it should move to a site that is
 705 easier to use to cooperate with others, and moved it to github.  If
 706 you got a Spykee robot, you might want to check out
 707 <a href="https://github.com/petterreinholdtsen/libspykee-perl">the
 708 libspykee-perl github repository</a>.</p>
 709
 710       </div>
 711       <div class="tags">
 712
 713
 714         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 715
 716
 717       </div>
 718     </div>
 719     <div class="padding"></div>
 720
 721     <div class="entry">
 722       <div class="title">
 723         <a href="https://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html">Debian, the Linux distribution of choice for LEGO designers?</a>
 724       </div>
 725       <div class="date">
 726         11th May 2013
 727       </div>
 728       <div class="body">
 729         <P>In January,
 730 <a href="https://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html">I
 731 announced a</a> new <a href="irc://irc.debian.org/%23debian-lego">IRC
 732 channel #debian-lego</a>, for those of us in the Debian and Linux
 733 community interested in <a href="http://www.lego.com/">LEGO</a>, the
 734 marvellous construction system from Denmark.  We also created
 735 <a href="http://wiki.debian.org/LegoDesigners">a wiki page</a> to have
 736 a place to take notes and write down our plans and hopes.  And several
 737 people showed up to help.  I was very happy to see the effect of my
 738 call.  Since the small start, we have a debtags tag
 739 <a href="http://debtags.debian.net/search/bytag?wl=hardware::hobby:lego">hardware::hobby:lego</a>
 740 tag for LEGO related packages, and now count 10 packages related to
 741 LEGO and <a href="http://mindstorms.lego.com/">Mindstorms</a>:</p>
 742
 743 <p><table>
 744 <tr><td><a href="http://packages.qa.debian.org/brickos">brickos</a></td><td>alternative OS for LEGO Mindstorms RCX. Supports development in C/C++</td></tr>
 745 <tr><td><a href="http://packages.qa.debian.org/leocad">leocad</a></td><td>virtual brick CAD software</td></tr>
 746 <tr><td><a href="http://packages.qa.debian.org/libnxt">libnxt</a></td><td>utility library for talking to the LEGO Mindstorms NX</td></tr>
 747 <tr><td><a href="http://packages.qa.debian.org/lnpd">lnpd</a></td><td>daemon for LNP communication with BrickOS</td></tr>
 748 <tr><td><a href="http://packages.qa.debian.org/nbc">nbc</a></td><td>compiler for LEGO Mindstorms NXT bricks</td></tr>
 749 <tr><td><a href="http://packages.qa.debian.org/nqc">nqc</a></td><td>Not Quite C compiler for LEGO Mindstorms RCX</td></tr>
 750 <tr><td><a href="http://packages.qa.debian.org/python-nxt">python-nxt</a></td><td>python driver/interface/wrapper for the Lego Mindstorms NXT robot</td></tr>
 751 <tr><td><a href="http://packages.qa.debian.org/python-nxt-filer">python-nxt-filer</a></td><td>simple GUI to manage files on a LEGO Mindstorms NXT</td></tr>
 752 <tr><td><a href="http://packages.qa.debian.org/scratch">scratch</a></td><td>easy to use programming environment for ages 8 and up</td></tr>
 753 <tr><td><a href="http://packages.qa.debian.org/t2n">t2n</a></td><td>simple command-line tool for Lego NXT</td></tr>
 754 </table></p>
 755
 756 <p>Some of these are available in Wheezy, and all but one are
 757 currently available in Jessie/testing.  leocad is so far only
 758 available in experimental.</p>
 759
 760 <p>If you care about LEGO in Debian, please join us on IRC and help
 761 adding the rest of the great free software tools available on Linux
 762 for LEGO designers.</p>
 763
 764       </div>
 765       <div class="tags">
 766
 767
 768         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/lego">lego</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 769
 770
 771       </div>
 772     </div>
 773     <div class="padding"></div>
 774
 775     <div class="entry">
 776       <div class="title">
 777         <a href="https://people.skolelinux.org/pere/blog/Moved_the_pymissile_Debian_packaging_to_collab_maint.html">Moved the pymissile Debian packaging to collab-maint</a>
 778       </div>
 779       <div class="date">
 780         10th January 2013
 781       </div>
 782       <div class="body">
 783         <p>As part of my investigation on how to improve the support in Debian
 784 for hardware dongles, I dug up my old Mark and Spencer USB Rocket
 785 Launcher and updated the Debian package
 786 <a href="http://packages.qa.debian.org/pymissile">pymissile</a> to make
 787 sure udev will fix the device permissions when it is plugged in.  I
 788 also added a "Modaliases" header to test it in the Debian archive and
 789 hopefully make the package be proposed by jockey in Ubuntu when a user
 790 plug in his rocket launcher.  In the process I moved the source to a
 791 git repository under collab-maint, to make it easier for any DD to
 792 contribute.  <a href="http://code.google.com/p/pymissile/">Upstream</a>
 793 is not very active, but the software still work for me even after five
 794 years of relative silence.  The new git repository is not listed in
 795 the uploaded package yet, because I want to test the other changes a
 796 bit more before I upload the new version.  If you want to check out
 797 the new version with a .desktop file included, visit the
 798 <a href="http://anonscm.debian.org/gitweb/?p=collab-maint/pymissile.git">gitweb
 799 view</a> or use "<tt>git clone
 800 git://anonscm.debian.org/collab-maint/pymissile.git</tt>".</p>
 801
 802       </div>
 803       <div class="tags">
 804
 805
 806         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/isenkram">isenkram</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 807
 808
 809       </div>
 810     </div>
 811     <div class="padding"></div>
 812
 813     <div class="entry">
 814       <div class="title">
 815         <a href="https://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html">New IRC channel for LEGO designers using Debian</a>
 816       </div>
 817       <div class="date">
 818          2nd January 2013
 819       </div>
 820       <div class="body">
 821         <p>During Christmas, I have worked a bit on the Debian support for
 822 <a href="http://mindstorms.lego.com/en-us/Default.aspx">LEGO Mindstorm
 823 NXT</a>.  My son and I have played a bit with my NXT set, and I
 824 discovered I had to build all the tools myself because none were
 825 already in Debian Squeeze.  If Debian support for LEGO is something
 826 you care about, please join me on the IRC channel
 827 <a href="irc://irc.debian.org/%23debian-lego">#debian-lego</a> (server
 828 irc.debian.org).  There is a lot that could be done to improve the
 829 Debian support for LEGO designers.  For example both CAD software
 830 and Mindstorm compilers are missing. :)</p>
 831
 832 <p>Update 2012-01-03: A
 833 <a href="http://wiki.debian.org/LegoDesigners">project page</a>
 834 including links to Lego related packages is now available.</p>
 835
 836       </div>
 837       <div class="tags">
 838
 839
 840         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/lego">lego</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 841
 842
 843       </div>
 844     </div>
 845     <div class="padding"></div>
 846
 847     <div class="entry">
 848       <div class="title">
 849         <a href="https://people.skolelinux.org/pere/blog/First_version_of_a_Perl_library_to_control_the_Spykee_robot.html">First version of a Perl library to control the Spykee robot</a>
 850       </div>
 851       <div class="date">
 852          9th October 2010
 853       </div>
 854       <div class="body">
 855         <p>This summer I got the chance to buy cheap Spykee robots, and since
 856 then I have worked on getting Linux software in place to control them.
 857 The firmware for the robot is available from the producer, and using
 858 that source it was trivial to figure out the protocol specification.
 859 I've started on a perl library to control it, and made some demo
 860 programs using this perl library to allow one to control the
 861 robots.</p>
 862
 863 <p>The library is quite functional already, and capable of controlling
 864 the driving, fetching video, uploading MP3s and play them.  There are
 865 a few less important features too.</p>
 866
 867 <p>Since a few weeks ago, I ran out of time to spend on this project,
 868 but I never got around to releasing the current source.  I decided
 869 today that it was time to do something about it, and uploaded the
 870 source to my Debian package store at people.skolelinux.org.</p>
 871
 872 <p>Because it was simpler for me, I made a Debian package and
 873 published the source and deb.  If you got a spykee robot, grab the
 874 source or binary package:</p>
 875
 876 <p><ul>
 877 <li><a href="https://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1.tar.gz">libspykee-perl_0.0.20101009-1.tar.gz</a></li>
 878 <li><a href="https://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1.dsc">libspykee-perl_0.0.20101009-1.dsc</a></li>
 879 <li><a href="https://people.skolelinux.org/~pere/debian/packages/lenny/libspykee-perl_0.0.20101009-1_all.deb">libspykee-perl_0.0.20101009-1_all.deb</a></li>
 880 </ul></p>
 881
 882 <p>If you are interested in helping out with developing this library,
 883 please let me know.</p>
 884
 885       </div>
 886       <div class="tags">
 887
 888
 889         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 890
 891
 892       </div>
 893     </div>
 894     <div class="padding"></div>
 895
 896     <div class="entry">
 897       <div class="title">
 898         <a href="https://people.skolelinux.org/pere/blog/My_first_perl_GUI_application___controlling_a_Spykee_robot.html">My first perl GUI application - controlling a Spykee robot</a>
 899       </div>
 900       <div class="date">
 901          1st September 2010
 902       </div>
 903       <div class="body">
 904         <p>This evening I made my first Perl GUI application.  The last few
 905 days I have worked on a Perl module for controlling my recently
 906 aquired Spykee robots, and the module is now getting complete enought
 907 that it is possible to use it to control the robot driving at least.
 908 It was now time to figure out how to use it to create some GUI to
 909 allow me to drive the robot around.  I picked PerlQt as I have had
 910 positive experiences with the Qt API before, and spent a few minutes
 911 browsing the web for examples.  Using Qt Designer seemed like a short
 912 cut, so I ended up writing the perl GUI using Qt Designer and
 913 compiling it into a perl program using the puic program from
 914 libqt-perl.  Nothing fancy yet, but it got buttons to connect and
 915 drive around.</p>
 916
 917 <p>The perl module I have written provide a object oriented API for
 918 controlling the robot.  Here is an small example on how to use it:</p>
 919
 920 <p><pre>
 921 use Spykee;
 922 Spykee::discover(sub {$robot{$_[0]} = $_[1]});
 923 my $host = (keys %robot)[0];
 924 my $spykee = Spykee->new();
 925 $spykee->contact($host, "admin", "admin");
 926 $spykee->left();
 927 sleep 2;
 928 $spykee->right();
 929 sleep 2;
 930 $spykee->forward();
 931 sleep 2;
 932 $spykee->back();
 933 sleep 2;
 934 $spykee->stop();
 935 </pre></p>
 936
 937 <p>Thanks to the release of the source of the robot firmware, I could
 938 peek into the implementation at the other end to figure out how to
 939 implement the protocol used by the robot.  I've implemented several of
 940 the commands the robot understand, but is still missing the camera
 941 support to make it possible to control the robot from remote.  First I
 942 want to implement support for uploading new firmware and configuring
 943 the wireless network, to make it possible to bootstrap a Spykee robot
 944 without the producers Windows and MacOSX software (I only have Linux,
 945 so I had to ask a friend to come over to get the robot testing
 946 going. :).</p>
 947
 948 <p>Will release the source to the public soon, but need to figure out
 949 where to make it available first.  I will add a link to
 950 <a href="http://wiki.nuug.no/grupper/robot/">the NUUG wiki</a> for
 951 those that want to check back later to find it.</p>
 952
 953       </div>
 954       <div class="tags">
 955
 956
 957         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
 958
 959
 960       </div>
 961     </div>
 962     <div class="padding"></div>
 963
 964     <div class="entry">
 965       <div class="title">
 966         <a href="https://people.skolelinux.org/pere/blog/Robot__reis_deg___.html">Robot, reis deg...</a>
 967       </div>
 968       <div class="date">
 969         21st August 2010
 970       </div>
 971       <div class="body">
 972         <p>I dag fikk jeg endelig tittet litt på mine nyinnkjøpte roboter, og
 973 har brukt noen timer til å google etter interessante referanser og
 974 aktuell kildekode for bruk på Linux.  Det mest lovende så langt er
 975 <a href="http://ispykee.toyz.org/">ispykee</a>, som har en
 976 BSD-lisensiert linux-daemon som står som mellomledd mellom roboter på
 977 lokalnettet og en sentral tjeneste der en iPhone kan koble seg opp for
 978 å fjernstyre roboten.  Linux-daemonen implementerer deler av
 979 protokollen som roboten forstår.  Etter å ha knotet litt med å oppnå
 980 kontakt med roboten (den oppretter et eget ad-hoc wifi-nett, så jeg
 981 måtte gå av mitt vanlige nett for å få kontakt), og kommet frem til at
 982 den lytter på IP-port 9000 og 9001, gikk jeg i gang med å finne ut
 983 hvordan jeg kunne snakke med roboten vha. disse portene.  Robotbiten
 984 av protokollen er publisert av produsenten med GPL-lisens, slik at det
 985 er mulig å se hvordan protokollen fungerer.  Det finnes en java-klient
 986 for Android som så ganske snasen ut, men fant ingen kildekode for
 987 denne.  Derimot hadde iphone-løsningen kildekode, så jeg tok
 988 utgangspunkt i den.</p>
 989
 990 <p>Daemonen ville i utgangspunktet forsøke å kontakte den sentrale
 991 tjenesten som iphone-programmet kobler seg til.  Jeg skrev dette om
 992 til i stedet å sette opp en nettverkstjeneste på min lokale maskin,
 993 som jeg kan koble meg opp til med telnet og gi kommandoer til roboten
 994 (act, forward, right, left, etc).  Det involverte i praksis å bytte ut
 995 socket()/connect() med socket()/bind()/listen()/accept() for å gjøre
 996 klienten om til en tjener.</p>
 997
 998 <p>Mens jeg har forsøkt å få roboten til å bevege seg har min samboer
 999 skrudd sammen resten av roboten for å få montert kamera og plastpynten
1000 (armer, plastfiber for lys).  Nå er det hele montert, og roboten er
1001 klar til bruk.  Må få flyttet den over til mitt vanlige trådløsnett
1002 før det blir praktisk, men de bitene av protokollen er ikke
1003 implementert i ispykee-daemonen, så der må jeg enten få tak i en mac
1004 eller en windows-maskin, eller implementere det selv.</p>
1005
1006 <p>Vi var tre som kjøpte slike roboter, og vi har blitt enige om å
1007 samle notater og referanser på <a
1008 href="http://wiki.nuug.no/grupper/robot/">NUUGs wiki</a>.  Ta en titt
1009 der hvis du er nysgjerrig.</p>
1010
1011       </div>
1012       <div class="tags">
1013
1014
1015         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/norsk">norsk</a>, <a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
1016
1017
1018       </div>
1019     </div>
1020     <div class="padding"></div>
1021
1022     <div class="entry">
1023       <div class="title">
1024         <a href="https://people.skolelinux.org/pere/blog/2_Spykee_roboter_i_hus__n__skal_det_lekes.html">2 Spykee-roboter i hus, nå skal det lekes</a>
1025       </div>
1026       <div class="date">
1027         18th August 2010
1028       </div>
1029       <div class="body">
1030         <p>Jeg kjøpte nettopp to
1031 <a href="http://www.spykee-robot.com/">Spykee</a>-roboter, for test og
1032 leking.  Kjøpte to da det var så billige, og gir meg mulighet til å
1033 eksperimentere uten å være veldig redd for å ødelegge alt ved å bytte
1034 ut firmware og slikt.  Oppdaget at lekebutikken på Bryn senter hadde
1035 en liten stabel på lager som de ikke hadde klart å selge ut etter
1036 fjorårets juleinnkjøp, og var villig til å selge for en femtedel av
1037 vanlig pris.  Jeg, Ronny og Jarle har skaffet oss restbeholdningen, og
1038 det blir morsomt å se hva vi får ut av dette.</p>
1039
1040 <p>Roboten har belter styrt av to motorer, kamera, høytaler, mikrofon
1041 og wifi-tilkobling.  Det hele styrt av en GPL-lisensiert databoks som
1042 jeg mistenker kjører linux.  Firmware-kildekoden ble visst publisert i
1043 mai.  Eneste utfordringen er at kontroller-programvaren kun finnes til
1044 Windows, men det må en kunne jobbe seg rundt når vi har kildekoden til
1045 firmwaren. :)</p>
1046
1047 <ul>
1048 <li><a href="http://en.wikipedia.org/wiki/Spykee">Wikipedia-oppføring</a></li>
1049 <li><a href="http://www.spykeeworld.com/spykee/US/freeSoftware.html">Nedlasting av firmware-kilden</a></li>
1050 <li><a href="http://wiki.nuug.no/grupper/robot">prosjektwiki hos NUUG</a></li>
1051 </ul>
1052
1053       </div>
1054       <div class="tags">
1055
1056
1057         Tags: <a href="https://people.skolelinux.org/pere/blog/tags/norsk">norsk</a>, <a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug</a>, <a href="https://people.skolelinux.org/pere/blog/tags/robot">robot</a>.
1058
1059
1060       </div>
1061     </div>
1062     <div class="padding"></div>
1063
1064     <p style="text-align: right;"><a href="robot.rss"><img src="https://people.skolelinux.org/pere/blog/xml.gif" alt="RSS Feed" width="36" height="14" /></a></p>
1065     <div id="sidebar">
1066
1067
1068
1069 <h2>Archive</h2>
1070 <ul>
1071
1072 <li>2025
1073 <ul>
1074
1075 <li><a href="https://people.skolelinux.org/pere/blog/archive/2025/01/">January (1)</a></li>
1076
1077 </ul></li>
1078
1079 <li>2023
1080 <ul>
1081
1082 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/01/">January (3)</a></li>
1083
1084 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/02/">February (1)</a></li>
1085
1086 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/04/">April (2)</a></li>
1087
1088 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/05/">May (3)</a></li>
1089
1090 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/06/">June (1)</a></li>
1091
1092 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/08/">August (1)</a></li>
1093
1094 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/09/">September (1)</a></li>
1095
1096 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/10/">October (1)</a></li>
1097
1098 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/11/">November (4)</a></li>
1099
1100 <li><a href="https://people.skolelinux.org/pere/blog/archive/2023/12/">December (1)</a></li>
1101
1102 </ul></li>
1103
1104 <li>2022
1105 <ul>
1106
1107 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/02/">February (1)</a></li>
1108
1109 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/03/">March (3)</a></li>
1110
1111 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/04/">April (2)</a></li>
1112
1113 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/06/">June (2)</a></li>
1114
1115 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/07/">July (1)</a></li>
1116
1117 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/09/">September (1)</a></li>
1118
1119 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/10/">October (1)</a></li>
1120
1121 <li><a href="https://people.skolelinux.org/pere/blog/archive/2022/12/">December (1)</a></li>
1122
1123 </ul></li>
1124
1125 <li>2021
1126 <ul>
1127
1128 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/01/">January (2)</a></li>
1129
1130 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/02/">February (1)</a></li>
1131
1132 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/05/">May (1)</a></li>
1133
1134 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/06/">June (1)</a></li>
1135
1136 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/07/">July (3)</a></li>
1137
1138 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/08/">August (1)</a></li>
1139
1140 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/09/">September (1)</a></li>
1141
1142 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/10/">October (1)</a></li>
1143
1144 <li><a href="https://people.skolelinux.org/pere/blog/archive/2021/12/">December (1)</a></li>
1145
1146 </ul></li>
1147
1148 <li>2020
1149 <ul>
1150
1151 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/02/">February (2)</a></li>
1152
1153 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/03/">March (2)</a></li>
1154
1155 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/04/">April (2)</a></li>
1156
1157 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/05/">May (3)</a></li>
1158
1159 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/06/">June (2)</a></li>
1160
1161 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/07/">July (1)</a></li>
1162
1163 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/09/">September (1)</a></li>
1164
1165 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/10/">October (1)</a></li>
1166
1167 <li><a href="https://people.skolelinux.org/pere/blog/archive/2020/11/">November (1)</a></li>
1168
1169 </ul></li>
1170
1171 <li>2019
1172 <ul>
1173
1174 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
1175
1176 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/02/">February (3)</a></li>
1177
1178 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/03/">March (3)</a></li>
1179
1180 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/05/">May (2)</a></li>
1181
1182 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/06/">June (5)</a></li>
1183
1184 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/07/">July (2)</a></li>
1185
1186 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/08/">August (1)</a></li>
1187
1188 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/09/">September (1)</a></li>
1189
1190 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/11/">November (1)</a></li>
1191
1192 <li><a href="https://people.skolelinux.org/pere/blog/archive/2019/12/">December (4)</a></li>
1193
1194 </ul></li>
1195
1196 <li>2018
1197 <ul>
1198
1199 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
1200
1201 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
1202
1203 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/03/">March (5)</a></li>
1204
1205 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/04/">April (3)</a></li>
1206
1207 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/06/">June (2)</a></li>
1208
1209 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/07/">July (5)</a></li>
1210
1211 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/08/">August (3)</a></li>
1212
1213 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/09/">September (3)</a></li>
1214
1215 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/10/">October (5)</a></li>
1216
1217 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/11/">November (2)</a></li>
1218
1219 <li><a href="https://people.skolelinux.org/pere/blog/archive/2018/12/">December (4)</a></li>
1220
1221 </ul></li>
1222
1223 <li>2017
1224 <ul>
1225
1226 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
1227
1228 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
1229
1230 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/03/">March (5)</a></li>
1231
1232 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/04/">April (2)</a></li>
1233
1234 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
1235
1236 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
1237
1238 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
1239
1240 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
1241
1242 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
1243
1244 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
1245
1246 <li><a href="https://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
1247
1248 </ul></li>
1249
1250 <li>2016
1251 <ul>
1252
1253 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
1254
1255 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
1256
1257 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
1258
1259 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
1260
1261 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/05/">May (8)</a></li>
1262
1263 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/06/">June (2)</a></li>
1264
1265 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/07/">July (2)</a></li>
1266
1267 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/08/">August (5)</a></li>
1268
1269 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/09/">September (2)</a></li>
1270
1271 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/10/">October (3)</a></li>
1272
1273 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
1274
1275 <li><a href="https://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
1276
1277 </ul></li>
1278
1279 <li>2015
1280 <ul>
1281
1282 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
1283
1284 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
1285
1286 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
1287
1288 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/04/">April (4)</a></li>
1289
1290 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/05/">May (3)</a></li>
1291
1292 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/06/">June (4)</a></li>
1293
1294 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/07/">July (6)</a></li>
1295
1296 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/08/">August (2)</a></li>
1297
1298 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
1299
1300 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
1301
1302 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
1303
1304 <li><a href="https://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
1305
1306 </ul></li>
1307
1308 <li>2014
1309 <ul>
1310
1311 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
1312
1313 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
1314
1315 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/03/">March (8)</a></li>
1316
1317 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/04/">April (7)</a></li>
1318
1319 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/05/">May (1)</a></li>
1320
1321 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/06/">June (2)</a></li>
1322
1323 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
1324
1325 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/08/">August (2)</a></li>
1326
1327 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
1328
1329 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
1330
1331 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
1332
1333 <li><a href="https://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
1334
1335 </ul></li>
1336
1337 <li>2013
1338 <ul>
1339
1340 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
1341
1342 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
1343
1344 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
1345
1346 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/04/">April (6)</a></li>
1347
1348 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/05/">May (9)</a></li>
1349
1350 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/06/">June (10)</a></li>
1351
1352 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/07/">July (7)</a></li>
1353
1354 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/08/">August (3)</a></li>
1355
1356 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
1357
1358 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
1359
1360 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/11/">November (9)</a></li>
1361
1362 <li><a href="https://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
1363
1364 </ul></li>
1365
1366 <li>2012
1367 <ul>
1368
1369 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
1370
1371 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
1372
1373 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/03/">March (17)</a></li>
1374
1375 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/04/">April (12)</a></li>
1376
1377 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
1378
1379 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
1380
1381 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
1382
1383 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
1384
1385 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
1386
1387 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
1388
1389 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
1390
1391 <li><a href="https://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
1392
1393 </ul></li>
1394
1395 <li>2011
1396 <ul>
1397
1398 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
1399
1400 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
1401
1402 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/03/">March (6)</a></li>
1403
1404 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/04/">April (7)</a></li>
1405
1406 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/05/">May (3)</a></li>
1407
1408 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/06/">June (2)</a></li>
1409
1410 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/07/">July (7)</a></li>
1411
1412 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/08/">August (6)</a></li>
1413
1414 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/09/">September (4)</a></li>
1415
1416 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/10/">October (2)</a></li>
1417
1418 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
1419
1420 <li><a href="https://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
1421
1422 </ul></li>
1423
1424 <li>2010
1425 <ul>
1426
1427 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
1428
1429 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
1430
1431 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
1432
1433 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/04/">April (3)</a></li>
1434
1435 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/05/">May (9)</a></li>
1436
1437 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/06/">June (14)</a></li>
1438
1439 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/07/">July (12)</a></li>
1440
1441 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/08/">August (13)</a></li>
1442
1443 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/09/">September (7)</a></li>
1444
1445 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/10/">October (9)</a></li>
1446
1447 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/11/">November (13)</a></li>
1448
1449 <li><a href="https://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
1450
1451 </ul></li>
1452
1453 <li>2009
1454 <ul>
1455
1456 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
1457
1458 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
1459
1460 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/03/">March (12)</a></li>
1461
1462 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/04/">April (10)</a></li>
1463
1464 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/05/">May (9)</a></li>
1465
1466 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/06/">June (3)</a></li>
1467
1468 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/07/">July (4)</a></li>
1469
1470 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/08/">August (3)</a></li>
1471
1472 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/09/">September (1)</a></li>
1473
1474 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/10/">October (2)</a></li>
1475
1476 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/11/">November (3)</a></li>
1477
1478 <li><a href="https://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
1479
1480 </ul></li>
1481
1482 <li>2008
1483 <ul>
1484
1485 <li><a href="https://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
1486
1487 <li><a href="https://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
1488
1489 </ul></li>
1490
1491 </ul>
1492
1493
1494
1495 <h2>Tags</h2>
1496 <ul>
1497
1498  <li><a href="https://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (19)</a></li>
1499
1500  <li><a href="https://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
1501
1502  <li><a href="https://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
1503
1504  <li><a href="https://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
1505
1506  <li><a href="https://people.skolelinux.org/pere/blog/tags/betalkontant">betalkontant (9)</a></li>
1507
1508  <li><a href="https://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (12)</a></li>
1509
1510  <li><a href="https://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
1511
1512  <li><a href="https://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
1513
1514  <li><a href="https://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (3)</a></li>
1515
1516  <li><a href="https://people.skolelinux.org/pere/blog/tags/debian">debian (197)</a></li>
1517
1518  <li><a href="https://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (159)</a></li>
1519
1520  <li><a href="https://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (9)</a></li>
1521
1522  <li><a href="https://people.skolelinux.org/pere/blog/tags/digistan">digistan (11)</a></li>
1523
1524  <li><a href="https://people.skolelinux.org/pere/blog/tags/dld">dld (18)</a></li>
1525
1526  <li><a href="https://people.skolelinux.org/pere/blog/tags/docbook">docbook (32)</a></li>
1527
1528  <li><a href="https://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
1529
1530  <li><a href="https://people.skolelinux.org/pere/blog/tags/english">english (456)</a></li>
1531
1532  <li><a href="https://people.skolelinux.org/pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
1533
1534  <li><a href="https://people.skolelinux.org/pere/blog/tags/fildeling">fildeling (14)</a></li>
1535
1536  <li><a href="https://people.skolelinux.org/pere/blog/tags/freeculture">freeculture (34)</a></li>
1537
1538  <li><a href="https://people.skolelinux.org/pere/blog/tags/freedombox">freedombox (9)</a></li>
1539
1540  <li><a href="https://people.skolelinux.org/pere/blog/tags/frikanalen">frikanalen (20)</a></li>
1541
1542  <li><a href="https://people.skolelinux.org/pere/blog/tags/h264">h264 (20)</a></li>
1543
1544  <li><a href="https://people.skolelinux.org/pere/blog/tags/intervju">intervju (43)</a></li>
1545
1546  <li><a href="https://people.skolelinux.org/pere/blog/tags/isenkram">isenkram (16)</a></li>
1547
1548  <li><a href="https://people.skolelinux.org/pere/blog/tags/kart">kart (23)</a></li>
1549
1550  <li><a href="https://people.skolelinux.org/pere/blog/tags/kodi">kodi (6)</a></li>
1551
1552  <li><a href="https://people.skolelinux.org/pere/blog/tags/ldap">ldap (9)</a></li>
1553
1554  <li><a href="https://people.skolelinux.org/pere/blog/tags/lego">lego (5)</a></li>
1555
1556  <li><a href="https://people.skolelinux.org/pere/blog/tags/lenker">lenker (8)</a></li>
1557
1558  <li><a href="https://people.skolelinux.org/pere/blog/tags/linuxcnc">linuxcnc (5)</a></li>
1559
1560  <li><a href="https://people.skolelinux.org/pere/blog/tags/lsdvd">lsdvd (2)</a></li>
1561
1562  <li><a href="https://people.skolelinux.org/pere/blog/tags/ltsp">ltsp (1)</a></li>
1563
1564  <li><a href="https://people.skolelinux.org/pere/blog/tags/madewithcc">madewithcc (3)</a></li>
1565
1566  <li><a href="https://people.skolelinux.org/pere/blog/tags/mesh network">mesh network (8)</a></li>
1567
1568  <li><a href="https://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (46)</a></li>
1569
1570  <li><a href="https://people.skolelinux.org/pere/blog/tags/nice free software">nice free software (15)</a></li>
1571
1572  <li><a href="https://people.skolelinux.org/pere/blog/tags/noark5">noark5 (24)</a></li>
1573
1574  <li><a href="https://people.skolelinux.org/pere/blog/tags/norsk">norsk (323)</a></li>
1575
1576  <li><a href="https://people.skolelinux.org/pere/blog/tags/nuug">nuug (198)</a></li>
1577
1578  <li><a href="https://people.skolelinux.org/pere/blog/tags/offentlig innsyn">offentlig innsyn (40)</a></li>
1579
1580  <li><a href="https://people.skolelinux.org/pere/blog/tags/open311">open311 (2)</a></li>
1581
1582  <li><a href="https://people.skolelinux.org/pere/blog/tags/opensnitch">opensnitch (4)</a></li>
1583
1584  <li><a href="https://people.skolelinux.org/pere/blog/tags/opphavsrett">opphavsrett (76)</a></li>
1585
1586  <li><a href="https://people.skolelinux.org/pere/blog/tags/personvern">personvern (114)</a></li>
1587
1588  <li><a href="https://people.skolelinux.org/pere/blog/tags/raid">raid (2)</a></li>
1589
1590  <li><a href="https://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
1591
1592  <li><a href="https://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
1593
1594  <li><a href="https://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
1595
1596  <li><a href="https://people.skolelinux.org/pere/blog/tags/robot">robot (17)</a></li>
1597
1598  <li><a href="https://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
1599
1600  <li><a href="https://people.skolelinux.org/pere/blog/tags/ruter">ruter (7)</a></li>
1601
1602  <li><a href="https://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
1603
1604  <li><a href="https://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet (60)</a></li>
1605
1606  <li><a href="https://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
1607
1608  <li><a href="https://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
1609
1610  <li><a href="https://people.skolelinux.org/pere/blog/tags/standard">standard (75)</a></li>
1611
1612  <li><a href="https://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (7)</a></li>
1613
1614  <li><a href="https://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (14)</a></li>
1615
1616  <li><a href="https://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (65)</a></li>
1617
1618  <li><a href="https://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (5)</a></li>
1619
1620  <li><a href="https://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
1621
1622  <li><a href="https://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
1623
1624  <li><a href="https://people.skolelinux.org/pere/blog/tags/verkidetfri">verkidetfri (22)</a></li>
1625
1626  <li><a href="https://people.skolelinux.org/pere/blog/tags/video">video (80)</a></li>
1627
1628  <li><a href="https://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
1629
1630  <li><a href="https://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
1631
1632 </ul>
1633
1634
1635     </div>
1636     <p style="text-align: right">
1637  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
1638 </p>
1639
1640   </body>
1641 </html>