General setup

The mobots network is available for use by the robots. This network is protected using WPA2 Personal identification. Ask a mobots team member for the password. This network is connected with Internet through a NAT, thus robots can access Internet but not the reverse. This network is also connected to lsro1arena through its second network card.

The robots have a static IP spanned between 10.0.0.100 and 10.0.1.199. The IP is determined by the robot number + 100, i.e. marxbot11 will have IP 10.0.0.111 and marxbot33 will have IP 10.0.0.133. The addresses between 10.0.0.1 and 10.0.0.99 are reserved for the other equipment on the network while there is a DHCP sever managing the adresses between 10.0.0.200 and 10.0.0.249 (for the laptops for instance).

The network informations for the robots are:

• name: mobots
• IP range for robots: 10.0.0.100-10.0.0.199
• IP range for dhcp: 10.0.0.200-10.0.0.249
• router IP: 10.0.0.1
• lsro1arena IP: 10.0.0.2

On the robots

If the Wifi card of a robot, Linux will create a new device (wlanX) as devices' names are persistant. To clear previous associations, edit:

/etc/udev/rules.d/70-persistent-net.rules

The file /etc/network/interfaces must contain the following for interface wlan0:

auto wlan0
iface wlan0 inet static
	address 10.0.0.10
	netmask 255.255.0.0
	network 10.0.0.0
	gateway 10.0.0.1
#	wireless-mode ad-hoc
#	wireless-essid mobots
	wpa-conf /etc/wpa_supplicant/wpa_mobots.conf

Please note that the file in the distribution also contains a commented alternate configuration for ad-hoc wirless. 
To configure the robot in ad-hoc mode comment in the above wpa-conf config line and comment out the two wireless config lines in wlan0. Then issue ifdown wlan0 and then ifup wlan0 commands.

The configuration file /etc/wpa_supplicant/wpa_mobots.conf must be:

ctrl_interface=DIR=/var/run/wpa_supplicant
network={
        ssid="mobots"
        scan_ssid=1
        key_mgmt=WPA-PSK
        psk="WIFI PASSWORD ASL A MOBOTS PERSON"
}

These two files are present by default in the mobots distribution

To enable 802.11N speed create a file /etc/modprobe.d/ar9170usb.conf with the following line inside:

options ar9170usb ht=1

This is done by default in the mobots distribution