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--- tutorials:stm32f3_discovery_with_paparazzi [2016/03/14 10:54] – [Paparazzi STM32f3 Discovery] amora
+++ tutorials:stm32f3_discovery_with_paparazzi [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ 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====