How to talk to your Qwerk
A condensed version of the steps required to establish a connection with the Qwerk
1.) Launch application such as RUR or Flower Power while being connected to the internet. You can disconnect after it loads.
2.) Make sure Qwerk is off
3.) Connect an Ethernet cord from the Qwerk to your computer.
4.) Change the TCP/IP settings on your computer by going into your wired network settings.
For windows: Go into control panel select network connections wired or LAN Connections scroll down to TCP/IP in the menu, select it and click “Properties” fill in the IP address and subnet mask provided below.
For Ubuntu linux users these settings are accessed by going to System Administration Network Wired Connection de-select “Enable Roaming mode” type in the IP and subnet mask provided below.
IP Address: 192.168.1.150
Subnet Mask: 255.255.255.0
5.) Locate the tiny CFG button on the Qwerk and power on while holding the CFG button down until all LEDs start blinking rapidly. You are now in the Diagnostic Tool menu.
6.) Reset the Qwerk to default mode by tapping the CFG button 7 times (LED 6 lights up and then all LEDs blink rapidly to let you know you have entered part of the Diagnostic menu).
7.) Set the Qwerk to static IP mode by pushing the CFG 5 times (LED 4 lights up).
8.) Launch internet browser and go to
http://192.168.1.144
This is your Qwerk’s Ethernet configuration page. Here you change your connection settings (direct connect or relay connection), and access information about your Qwerk such as the host login ID or IP, and connection status.
9.) At the configuration site select the radio button, “Use the following IP address” and type in:
IP address: 192.168.1.144
Subnet Mask: 255.255.255.0
Default Gateway: 192.168.1.150
Click Apply (ignore error message, it’s a bug), and click on the left hand menu to verify change was saved.
10.) Go to General Configuration and select the radio button for the “Direct-connect” option under “Client connection mode”. Click Apply.
11.) Exit the Diagnostic menu on the Qwerk by pressing CFG 8 times.
12.) LED6 should blink. When LED 0, 1, and 2 are on the Qwerk is connected.
Using the Software
1.) Launch one of the applications (the RUR application is a good one to start with) provided by the Terk website:
http://www.terk.ri.cmu.edu/software/index.php
2.) Connect using Direct Connect mode. Host ID is 192.168.1.144
Discussion
Establishing a connection between the Qwerk, PC, and internet was more troublesome than I had anticipated. There a few factors which made this process difficult: for starters, I didn’t know how to get around the campus’ network regulations which essentially blocked the Qwerk from connecting to the server. I met with John Baker at the end of last week, and he explained to me that my Qwerk needed to have a static IP address to login to the school’s network. We turned the Qwerk on and plugged it into John’s PC via Ethernet cable. The IP address that the Qwerk provided was then set as the new static IP address by changing the DHCP settings. John then added the new address to the server’s “safe list” so that future logins from that IP would be allowed into the network. Once that was done we had no problem accessing the Qwerk’s configuration site.
I thought the next step would be a walk in the park but I discovered quickly that establishing a connection with one of the software applications was tricky due to confusion over which identification was the Qwerk’s ticket to login. I wasn’t sure if they wanted me to login with the Qwerk’s static IP, the default IP, the Qwerk’s hostname, the host ID, or my user ID. It took a little trial and error but I was eventually able to connect the Qwerk to the RUR software and I finally got to see the little motors and servos operate happily.
I’m by no means done with this project. There is still a long road ahead of this robot, and whether it’s today or next year, people will see it up and operating at Marlboro. I don’t know what else to say at this point, Jim. I want to finish what I started with or without the credit because I made this thing, by myself, and I know it can work with a little more time. Anyway, you don’t need to tell me that this was a failure, you made your point earlier today. I don’t consider it a failure, I consider it a work in progress. I learned a lot of new things putting it together and making it activate, and I most certainly spent 2 credits worth of time getting it this far. I’m sorry if you feel it was a waste of time. I certainly don’t.
