This directory contains images for installing Franklin on a BeagleBone. They are intended to be used with the Athena as sold by Phidias, LLC. However, they should work to control any other Arduino-based CNC robot with a BeagleBone as well. To use, write the image file to a μSD card. Make sure not to put the file in the filesystem on the card, but to use the image as the new filesystem. This will destroy all data that was previously on the card. On GNU/Linux and Mac, you can do this by copying the image file to the appropriate device file. If there is a file system on the card, it will show up in the output of df when the card is mounted. Make sure to unmount the card before writing the image to it. Some common names for the device file include /dev/mmcblkX, /dev/sdX and /dev/diskXXX, where the X symbols vary. Make sure to use the device itself, not a partition (for example, use /dev/mmcblk0, not /dev/mmcblk0p1). To copy the image $IMG to the card on device $DEV, use the command: sudo dd if=$IMG of=$DEV If your only card reader is in the BeagleBone, you can use it as long as it contains a running system. Set up the USB network and use: dd if=$IMG | ssh debian@192.168.7.2 sudo dd of=/dev/mmcblk1 On Windows, a program called Win32DiskImager can be used, which can be downloaded from https://sourceforge.net/projects/win32diskimager/files/latest/download/. When the image is on the card, insert the card into the BeagleBone and apply power while holding the button next to the SD card slot. Release the button when the LEDs start flashing. If everything works, the LEDs start moving in a "Knight Rider" wave after a few seconds. When it's done, it will power the BeagleBone down and all the LEDs will be off. The flashing takes about 3 minutes. Then remove the card and the system is ready to be used with a bridge board version 2. If you have a bridge board version 1, you need an additional setup step. To see which bridge board you have, check what it connects to on the BeagleBone; both bridge boards connect to the large P9 header, but version 1 also connects to the 6 pin J1 header. This board requires you to apply the bridge_v1 upgrade from https://github.com/phidiasllc/athena/tree/master/upgrades . See that page for how to apply it. If you are not using a bridge board, connect the machine to the BeagleBone with a USB cable. No upgrades are required for this. Please report problems with this procedure as issues to https://github.com/mtu-most/franklin/ or if that doesn't work, send them to Bas Wijnen .