Difficulties and solutions

Week 1: There were no big problems. The most important work was to have a basic concept of how to control the robot arm with wifi and get familiar with the controlling of the robot, which include the using of the control software: "cyton viewer" and controlling by command lines. In addition, the architecture of Yun board should be known as well.

Week 2: Under the hard working of the first week, we could control the robot by cyton viewer with different handle system and have a good knowledge of the yun board, but we were confused to control the robot by command lines. Furthermore, the largest problem was the basic method of controlling by wifi was denied by the professor. It was really hard to construct the architecture of the controlling because of the limited abilities and unknown difficulties that would be met. For the first methods, we managed to install ROS program to the yun board, and with ssh terminal, the robot arm could be controlled over wifi.The problem come that we failed to install the program to the board. By enquiring to the professor, our method was completely denied. It is necessary to look for another available method as soon as possible.

Week 3: It would be the most terrible week we have met because we spent a whole week to find an available solution but failed. The only progress was the error of controlling by command line was found under the help of the researcher and the robot could be successful controlled through command lines. We planed to find an appropriate communication protocol to construction the connection. The researcher recommended us ttyd, telnet and rem serials but all failed. We researched more resources as many as possible such as the wifi protocol 802.11 and net work programing. Another problem could be that the proffesor was very angry with our work and we were stressed out and felt hopeless. The only solution might be to continue researching, spend more time as well as insistency.

Week 4: Through a plenty of researching and attempting, things went better this week, when we applied usbip, it was found that we could use a computer to control the robot by connecting another computer with usb cable under the same wifi. In this case, we trying to compile and install the program to the yun board by modifying the source code. Through a whole night compiling, there were two errors occurred. In this case, a whole day was spent to modify the code. Eventually, the program was installed on the board the the robot was controlled well with cyton viewer.