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--- tutorials:stm32f3_discovery_with_paparazzi [2016/03/07 15:09] – ↷ Links adapted because of a move operation amora
+++ tutorials:stm32f3_discovery_with_paparazzi [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 2: / Line 2: @@
 By [[people:dgarcia| Daniel García Vaglio]] and Esteban Zamora Alvarado.
-This tutorial is part of a Programación Bajo Plataformas Abiertas project [[teaching:ie0117:proyectos:2015:proyectos_2015_i:proyecto_1:puesta_en_funcionamiento_de_paparazzi_en_un_stm32f3| documentation]].
+This tutorial is part of Programación Bajo Plataformas Abiertas project [[teaching:ie0117:proyectos:2015:i:proyecto_1:puesta_en_funcionamiento_de_paparazzi_en_un_stm32f3| documentation]].
-Before to get started, your computer need some tools to put in action the code. That's the reason why we made the guide for the installation of tools and prerequisites needed by Paparazzi.
+Before getting started, your computer needs some tools to put in action the code. That is why we made the guide for the installation tools and prerequisites required by Paparazzi.
-Here are some important links:
+These are some important links:
   * [[http://www.st.com/st-web-ui/static/active/jp/resource/technical/document/user_manual/DM00063382.pdf |STM32f3 user manual]]
@@ Line 22: / Line 22: @@
-This part of the tutorial is based in [[tutorial_for_installing_paparazzi|tutorial for installing paparazzi]]. The steps that are presented in this tutorial are implemented for Debian,if you are using another Linux distribution, some indications may change.
+This tutorial part is based on [[tutorial_for_installing_paparazzi|tutorial for installing paparazzi]]. The steps presented in this tutorial are implemented for Debian. If you are using another Linux distribution, some instructions might change.
 ====Dependencies====
-Follow this tutorial [[tutorials:stm32f4|Summon-Arm-Toolchain]], don't forget to export to the user PATH using bashrc and then reload the bashrc.
+Follow this tutorial [[tutorials:stm32f4|Summon-Arm-Toolchain]]. Do not forget to export to the user PATH using bashrc and then reload the bashrc.
-Download all the paparazzi dependencies, so we need to write in our terminal the next command
+Download all the paparazzi dependencies. Then,write in your terminal the next command:
   apt-get install ocaml-findlib libxml-light-ocaml-dev liblablgtk2-ocaml-dev liblablgtk2-gnome-ocaml-dev libocamlnet-ocaml-dev libsdl-ocaml-dev libpcre-ocaml-dev gtk2-engines-pixbuf make gcc g++ libgsl0-dev libgnomecanvas2-dev bzip2 git libusb-dev speech-dispatcher glade libpcre3-dev python-lxml python-wxgtk3.0 python-usb python-yaml libxml2-dev ocaml-native-compilers python-scipy python-matplotlib python-pygame lpc21isp openocd gpsd libgps-dev meld gitk gnuplot imagemagick libipc-run-perl astyle subversion
-**NOTE:** if you have some troubles to install the dependencies try to use aptitude instead apt-get. If you get some problems with gcc and g++ do not install python-scipy.
+**NOTE:** If you have some troubles installing the dependencies, try to use aptitude instead apt-get. If you get some problems with gcc and g++ , do not install python-scipy.
 ===The last three dependencies===
@@ Line 41: / Line 41: @@
 ===ivy-python===
-we will create a directory, copy the code and compile it creating a debian package
+we will create a directory. Copy the code and compile it creating a debian package.
   mkdir local/src/ivy-python
@@ Line 54: / Line 54: @@
 ===ivy-c===
-We proceed the same way than the ivy-python.
+We proceed the same way as in ivy-python.
   cd ~/local/src
@@ Line 62: / Line 62: @@
   cd trunk
-In order for new versions of dpkg to build ivy-c properly, changelog format must be changed:
+For new versions of dpkg in order to build ivy-c properly, changelog format must be changed:
   nano debian/changelog
@@ Line 75: / Line 75: @@
 ===ivy-ocaml===
-We proceed the same way than the ivy-python and the ivy-c.
+We proceed the same way as in ivy-python and ivy-c.
   cd ~/local/src
@@ Line 225: / Line 225: @@
 For the side with x motors, for motor i:
-{{ :ie0117_proyectos_i_2015:proyecto_1:chart_1_.png?nolink&200 |}}
+$$v_i=\frac{min[a,b]}{x}\times \frac{256}{sin(C_x)} \times sin(c_i)$$
 where c<sub>i</sub> is the angle of every motor.
@@ Line 232: / Line 232: @@
 for side a:
-v<sub>i</sub>=[MIN(a,b)/b]*[256/sin(C<sub>b</sub>)]*sin(c<sub>i</sub>)
+$$v_i=\frac{min[a,b]}{a}\times \frac{256}{sin(C_a)} \times sin(c_i)$$
 for side b:
-v<sub>i</sub>=[MIN(a,b)/b]*[256/sin(C<sub>b</sub>)]*sin(c<sub>i</sub>)
+$$v_i=\frac{min[a,b]}{b}\times \frac{256}{sin(C_b)} \times sin(c_i)$$
 ====Some useful configurations====
@@ Line 394: / Line 394: @@
 |Tx  |P9|
-Before connecting the adapter to the computer,it is necessary to get some software. This part of he tutorial was based on [[teaching:ie0117:proyectos:2014:proyectos_2014_i:proyecto_1:social_gps_navigation_with_raspberrypi_and_openstreetmaps|Social GPS]].
+Before connecting the adapter to the computer,it is necessary to get some software. This part of he tutorial was based on [[teaching:ie0117:proyectos:2014:i:proyecto_1:social_gps_navigation_with_raspberrypi_and_openstreetmaps|Social GPS]].
  To be able to read useful data from the gps, first we need to: