====== Getting Started ======

===== Getting Started =====

Here are some background details on Darwin.

Darwin uses the **Ubuntu OS** and **CPp** to run. For the vision aspect, I should be using **OpenCV** to tweak with the images.

It uses simulation program **Webots** to carry out simulation. 

===== Hardware =====

Basics of setting up the robots can be found at the [[http://support.robotis.com/en/|Robotis website]].

As a start to familiarizing with Darwin, connect Darwin to the router via an Ethernet cable and log into it via Secure Shell (SSH).

There are other ways to connect to Darwin to be picked up along the way.

**NOTE**: We have upgraded Darwin to Ubuntu 12.04 server. This means that it does not have GUI like a normal computer. 
To modify and play around with the codes in Darwin, import them into your own computer to edit and export them back into Darwin to execute, via the use of the Ubuntu Terminal ONLY. 
Search the Internet for the relevant codes to achieve this.

Another way you can modify the source codes would be to use the command **sudo nano /path/to/C++/text/** to open up the text file and edit right inside Darwin. 

**vi** or **vim** is another way to do so but i prefer **nano**.

===== Software =====

==== Logging in to DASL's very own Darwin ====

Logging into the robot is different from what the [[http://support.robotis.com/en/|Robotis website]] described as the DASL team has tweaked the authorization for specific purposes.

Instead, here is the method.
  * Open terminal in Ubuntu.(I am using VirtualBox)
  * Get the root-level privileges to enter Darwin via SSH.

  $ sudo su
  # ssh username@hostname

**Note**: if code starts with **$**, it means code is keyed in the **ordinary/non-privileged user** account, if it starts with **#**, code is keyed in the **root/superuser** account.
You will need to enter the password set by the user.
*Welcome!You're inside Darwin!

==== IP address of DASL's very own Darwin ====

{{dylanw:ifconfig1.jpeg}}

Again the IP address of DASL's Darwin is different from what the tutorial has stated. Use the ''ifconfig'' command in Darwin to get it. The IP adress is the string of numbers that appear after **inet addr:**.

==== Shutting down DASL's very own Darwin ====

  $ sudo su
  # shutdown -h 0

The value **0** behind **-h** means 0 seconds is given before the robot shuts down, that means shut down NOW!