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Updating and Reconfiguring P2OS
after each startup. You may choose not to change the FLASH ROM values. Rather, you
record the new configuration values and set/reset them using the p2oscf tool described
earlier in this chapter.
Install either compasscal(.exe) or revcountcal(.exe) into the bin directory of your
Saphira distribution. Connect your robot's HOST serial port to the computer, by tether if
you plan to save the calibration parameter to FLASH ROM. Turn on the robot's Main
Power.
From an X-terminal (Linux/UNIX) or DOS command line, execute the calibration tool. The
default connection port is the first serial port on your computer: COM1 for Win32 systems or
/dev/ttys0 for other Linux/UNIX systems. Specify an alternative port by providing a
startup argument.
For example:
% compasscal /dev/ttyS3
connects the compasscal calibration tool with the robot via the Linux computer's
/dev/ttyS3 serial port.
If the tool fails to connect the Saphira client with the robot server, it will tell you
"Connection refused" and hang. Press control-c to stop the program and try again
after fixing the serial connection. Typically, reboot the robot with its red RESET Console
button after an error.
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