{"id":99,"date":"2013-10-15T13:32:43","date_gmt":"2013-10-15T10:32:43","guid":{"rendered":"http:\/\/www.scozturk.com\/?p=99"},"modified":"2025-08-29T07:25:39","modified_gmt":"2025-08-29T07:25:39","slug":"3-khepera-iii-2","status":"publish","type":"post","link":"http:\/\/18.193.70.38\/?p=99&lang=tr","title":{"rendered":"3- Khepera III (2)"},"content":{"rendered":"

1- Giri\u015f:<\/strong><\/p>\n

Bu yaz\u0131mda KheperaIII robotunun \u00e7al\u0131\u015ft\u0131r\u0131lmas\u0131ndan i\u015fletim sistemine uzaktan ba\u011flanmaya kadar takip edilmesi gereken ad\u0131mlar\u0131 a\u00e7\u0131klayaca\u011f\u0131m.
\n2- \u0130lk \u00c7al\u0131\u015ft\u0131rma ve RS232\u2032den Ba\u011flanma:<\/strong><\/p>\n

RS232\u2032den ba\u011flanmadan ve KheperaIII\u2019\u00fc \u00e7al\u0131\u015ft\u0131rmadan \u00f6nce KoreConnect mod\u00fcl\u00fcn\u00fc d\u00fczg\u00fcn ba\u011fland\u0131\u011f\u0131n\u0131zdan emin olun. KoreConnect\u2019e ba\u011flant\u0131lar a\u015fa\u011f\u0131daki \u015fekilde belirtildi\u011fi gibi yap\u0131lmal\u0131d\u0131r:<\/p>\n

\"kheperaiii_1.JPG\"<\/a><\/p>\n

KoreConnect, Bilgisayar ve Khepera III aras\u0131ndaki ba\u011flant\u0131lar d\u00fczg\u00fcnce yap\u0131ld\u0131\u011f\u0131na g\u00f6re art\u0131k robotumuza ba\u011flanabiliriz. \u00d6ncelikle HyperTerminal program\u0131n\u0131 \u00e7al\u0131\u015ft\u0131r\u0131p uygun ayarlar\u0131 yapal\u0131m. HyperTerminal program\u0131 a\u015fa\u011f\u0131daki resimde g\u00f6rd\u00fc\u011f\u00fcn\u00fcz programd\u0131r.
\n<\/p>\n

 <\/p>\n

\"kheperaiii_2.JPG\"<\/a><\/p>\n

Ba\u011flant\u0131 i\u00e7in vir ad girdikten sonra \u201cTamam\u201d d\u00fc\u011fmesine t\u0131klayal\u0131m. Ard\u0131ndan kar\u015f\u0131m\u0131za \u00e7\u0131kan pencereden ba\u011flant\u0131 i\u00e7in kulland\u0131\u011f\u0131m\u0131z COM kap\u0131s\u0131n\u0131 se\u00e7elim (benim bilgisayar\u0131mda COM8\u2032e ba\u011fl\u0131). Ard\u0131ndan kar\u015f\u0131m\u0131za \u00e7\u0131kan pencerede ba\u011flant\u0131n\u0131n teknik ayarlar\u0131n\u0131 yapmam\u0131z gerekiyor. A\u015fa\u011f\u0131daki resimde g\u00f6r\u00fclen ayarlar\u0131 o pencerede yapal\u0131m.<\/p>\n

\"kheperaiii_3.JPG\"<\/a><\/p>\n

\u201cTamam\u201d\u2018a t\u0131klayal\u0131m. A\u015fa\u011f\u0131dakine benzer bir pencere ile kar\u015f\u0131la\u015f\u0131yoruz.<\/p>\n

\"kheperaiii_4.JPG\"<\/a><\/p>\n

Bu a\u015famada robotun alt\u0131ndaki ON\/OFF<\/em> d\u00fc\u011fmesini kullanarak robotu \u00e7al\u0131\u015ft\u0131rabilirsiniz. Robotun \u00fczerinde Linux i\u015fletim sistemi y\u00fckl\u00fc oldu\u011fundan robotun a\u00e7\u0131lmas\u0131 birka\u00e7 saniye s\u00fcrebilir ama bu arada Linux a\u00e7\u0131l\u0131rken a\u00e7\u0131l\u0131\u015f mesajlar\u0131n\u0131 g\u00f6rebilirsizin. Her\u015fey tamamland\u0131ktan sonra sizden kullan\u0131c\u0131 ad\u0131 ve \u015fifre isteyen bir pencere ile kar\u015f\u0131la\u015facaks\u0131n\u0131z. \u0130lk a\u00e7\u0131l\u0131\u015fta kullan\u0131c\u0131 ad\u0131 root<\/em>, \u015fifre ise rootme<\/em>\u2018dir. Kullan\u0131c\u0131 ad\u0131n\u0131z\u0131 ve \u015fifrenizi girdikten sonra a\u015fa\u011f\u0131dakine benzer bir pencere elde edeceksiniz:<\/p>\n

\"kheperaiii_5.JPG\"<\/a><\/p>\n

\u015eimdi kar\u015f\u0131n\u0131zda bulunan terminal KheperaIII robotunun i\u00e7indeki Linux terminalidir. \u00c7e\u015fitli Linux komutlar\u0131 kullanarak istedi\u011finiz i\u015flemleri yapabilirsiniz. Kendinizi a\u00e7\u0131l\u0131\u015fta otomatik olarak \u201croot\u201d klas\u00f6r\u00fcnde bulacaks\u0131n\u0131z.<\/p>\n

E\u011fer WiFi kart\u0131n\u0131z var ise buran\u0131n devam\u0131na, 3. ve 4. b\u00f6l\u00fcme g\u00f6z atman\u0131z\u0131 tavsiye ediyorum. Aksi takdirde direk 5. b\u00f6l\u00fcme ge\u00e7ebilirsiniz \ud83d\ude42 .<\/p>\n

3- WiFi Kart ve Kablosuz A\u011f Ayarlar\u0131:<\/strong><\/p>\n

Khepera III kapal\u0131 iken WiFi kart\u0131m\u0131z\u0131 CF slotuna takal\u0131m ve ard\u0131ndan Khepera III robotumuzu \u00e7al\u0131\u015ft\u0131ral\u0131m. Kart\u0131m\u0131z a\u00e7\u0131l\u0131\u015fta otomatik olarak tan\u0131nacakt\u0131r. Herhangi bir \u015fey yapmadan Khepera III robotunuzun kablosuz a\u011f\u0131 \u00e7al\u0131\u015fabilir \u00e7\u00fcnk\u00fc otomatik olarak a\u011fa ba\u011flanmaya ayarl\u0131 geliyor ama bu her zaman yeterli de\u011fildir.<\/p>\n

Tabii ki Khepera III robotunuzun baz\u0131 ayarlar\u0131n\u0131 sabitlemek isteyeceksiniz. Bunu yapabilmek i\u00e7in \u00f6ncelikle rs232 kablosundan Khepera III\u2019\u00fcm\u00fcze ba\u011flanal\u0131m ve terminalimizi a\u00e7al\u0131m. Linux sistemimize girdikten sonra terminale<\/p>\n

vi \/etc\/pcmcia\/wireless.opts<\/em><\/p>\n

yazal\u0131m ve enter tu\u015funa basal\u0131m. Kar\u015f\u0131m\u0131za \/etc\/pcmcia<\/em> klas\u00f6r\u00fcndeki wireless.opts dosyas\u0131 geldi. By dosyay\u0131 vi<\/em> edit\u00f6r\u00fcn\u00fc kullanarak d\u00fczenleyece\u011fiz.<\/p>\n

Y\u00f6n tu\u015flar\u0131n\u0131 kullanarak dosyan\u0131n biraz alt\u0131na inelim. #Generic example\u2026<\/em> yaz\u0131s\u0131n\u0131n alt\u0131ndaki ESSID=\u201d”<\/em> de\u011ferini sizin a\u011f ayarlar\u0131na uygun bir ayar ile de\u011fi\u015ftirin (mesela ben zemin kat 3<\/em> yazd\u0131m). Ard\u0131ndan MODE=\u201d”<\/em> de\u011ferini MODE=\u201dManaged\u201d<\/em> olarak de\u011fi\u015ftirin. Di\u011fer ayarlara da bir g\u00f6z at\u0131n ve de\u011fi\u015ftirmeniz gereken bir ayar var ise burada de\u011fi\u015ftirin. \u015eimdi de\u011fi\u015fiklikleri kaydedip dosyay\u0131 kapatabiliriz.<\/p>\n

E\u011fer robotunuzun a\u011f ad\u0131n\u0131 de\u011fi\u015ftirmek istiyosan\u0131z terminale<\/p>\n

vi \/etc\/hostname<\/em><\/p>\n

yazarak hostname dosyas\u0131n\u0131 a\u00e7\u0131n ve ilgili de\u011fi\u015fikli\u011fi yap\u0131n.<\/p>\n

T\u00fcm bu ayarlar\u0131 yapt\u0131ktan sonra Khepera III\u2019\u00fc yeniden ba\u015flatmakta fayda var. Bunu yapmak i\u00e7in terminale<\/p>\n

reboot<\/em><\/p>\n

yaz\u0131n\u0131z. Ar\u0131ndan a\u011f\u0131n\u0131z\u0131n KheperaIII\u2019e atad\u0131\u011f\u0131 IP adresini \u00f6\u011frenmek i\u00e7in terminale<\/p>\n

ifconfig<\/em><\/p>\n

yazmam\u0131z yeterli. inet addr:<\/em> nin yan\u0131ndaki adres bizim robotumuzun IP adresidir.<\/p>\n

WiFi ayarlar\u0131m\u0131z yap\u0131ld\u0131\u011f\u0131na g\u00f6re art\u0131k KheperaIII\u2019e uzaktan ba\u011flanabiliriz.<\/p>\n

4- KheperaIII\u2019e Uzaktan Ba\u011flanma:<\/strong><\/p>\n

Khepera III\u2019e uzaktan ba\u011flanabilmek i\u00e7in Putty program\u0131n\u0131 kullanabiliriz. Putty program\u0131n\u0131 indirmek i\u00e7in buraya<\/a> t\u0131klay\u0131n\u0131z. \u0130ndirme i\u015flemi bitti\u011finde program\u0131 \u00e7al\u0131\u015ft\u0131ral\u0131m. A\u015fa\u011f\u0131daki pencere ile kar\u015f\u0131la\u015f\u0131yoruz:<\/p>\n

\"kheperaiii_6.JPG\"<\/a><\/p>\n

Bu pencerede Host Name (or IP address)<\/em> kutucu\u011funa KheperaIII robotumuzun IP adresini girip Open<\/em> d\u00fc\u011fmesine basal\u0131m. A\u015fa\u011f\u0131daki pencere ile kar\u015f\u0131la\u015f\u0131yoruz.<\/p>\n

\"kheperaiii_7.JPG\"<\/a><\/p>\n

Bu pencerede \u00f6ncelikle kullan\u0131c\u0131 ad\u0131m\u0131z\u0131, ard\u0131ndan da \u015fifremizi girmemiz isteniyor. \u015eifre ve kullan\u0131c\u0131 ad\u0131 girdikten sonra a\u015fa\u011f\u0131daki pencere ile kar\u015f\u0131la\u015f\u0131yoruz.<\/p>\n

\"kheperaiii_8.JPG\"<\/a><\/p>\n

G\u00f6rd\u00fc\u011f\u00fcn\u00fcz gibi kar\u015f\u0131n\u0131zda KheperaIII\u2019\u00fcn\u00a0 Linux terminali bulunuyor.<\/p>\n

5- Son:<\/strong><\/p>\n

Temel ba\u011flant\u0131 ayarlar\u0131n\u0131 yapt\u0131k ve Khepera III ile ba\u011flant\u0131 kurduk. Bu a\u015famada haz\u0131r Linux terminali a\u00e7\u0131k iken \u015fifrenizi de\u011fi\u015ftirmek ak\u0131ll\u0131ca olacakt\u0131r. Bunu yapabilmek i\u00e7in terminale<\/p>\n

passwd<\/em><\/p>\n

yaz\u0131p istenildi\u011finde yeni \u015fifrenizi girmeniz yeterli olacakt\u0131r.<\/p>\n

Bir sonraki makalede Khepera III i\u00e7in ilk kodumuzu yazaca\u011f\u0131z.<\/p>\n

Herkese kolay gelsin. \u0130yi kodlamalar.<\/p>\n","protected":false},"excerpt":{"rendered":"

1- Giri\u015f: Bu yaz\u0131mda KheperaIII robotunun \u00e7al\u0131\u015ft\u0131r\u0131lmas\u0131ndan i\u015fletim sistemine uzaktan ba\u011flanmaya kadar takip edilmesi gereken ad\u0131mlar\u0131 a\u00e7\u0131klayaca\u011f\u0131m. 2- \u0130lk \u00c7al\u0131\u015ft\u0131rma ve RS232\u2032den Ba\u011flanma: RS232\u2032den ba\u011flanmadan ve KheperaIII\u2019\u00fc \u00e7al\u0131\u015ft\u0131rmadan…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[223],"tags":[],"class_list":["post-99","post","type-post","status-publish","format-standard","hentry","category-robotik-tr"],"_links":{"self":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/99","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=99"}],"version-history":[{"count":1,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/99\/revisions"}],"predecessor-version":[{"id":1189,"href":"http:\/\/18.193.70.38\/index.php?rest_route=\/wp\/v2\/posts\/99\/revisions\/1189"}],"wp:attachment":[{"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=99"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=99"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/18.193.70.38\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=99"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}