Difference between revisions of "HOAP3 - Developer Info"
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== Collection of trajectories == | == Collection of trajectories == | ||
− | All the trajectories are stored in data folder. To send a trajectory to the robot we use the | + | All the trajectories are stored in data folder. To send a trajectory to the robot we use the instruction sendseq (for more details see the manual). |
# ../bin/sendseq < m03.csv | # ../bin/sendseq < m03.csv | ||
+ | |||
+ | * [[Media:M03.csv | Walking]] |
Revision as of 07:41, 9 August 2010
Starting the robot
There are several ways to control the robot, the most usual is the wireless mode.
- The first step is to switch on the robot. First you have to switch the logic power and then, the motor power. Change the order may cause damage to the robot.
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- You have to connect to HOAP wifi router, called corega. To do it you may log in the HOAP PC or connect from your own laptop. To start HOAP PC:
login: root password: default
- Once you are logged in corega you have to connect to HOAP robot. Open a terminal and follow the instructions:
$ telnet 10.59.145.197 login: guest password: guest
$ su password: default
- When you are inside the robot, you have to initialize the encoders. The relative encoders will try to reach their origin, if you get an error, don't panic, do it again.
# cd /usr/local/hoap3/data # sh start.sh
- Finally you can send a trajectory to the robot
sh walk.sh
Stopping the robot
- To stop the robot first you have to stop the servos.
# svoff
- Then you have to shut down the internal computer of the robot.
# poff
- Finally you have to switch off the motor power and then the logic power. Change the order may cause damage to the robot.
Collection of trajectories
All the trajectories are stored in data folder. To send a trajectory to the robot we use the instruction sendseq (for more details see the manual).
# ../bin/sendseq < m03.csv