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drc_hubo_real_world_dw [2017/01/12 15:15] – created dwallacedrc_hubo_real_world_dw [2017/04/05 13:48] dwallace
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 This tutorial is designed to teach DASL members about how to operate the Real-World HUBO, and how you can use the private PODO GUI. This tutorial is designed to teach DASL members about how to operate the Real-World HUBO, and how you can use the private PODO GUI.
 +
 +{{dylanw:real_world_hubo_gui.png?900}}
 +
 +In order to use HUBO in the real-world, we will use an older version of PODO. This can be found on the main HUBO motion PC.
 +
 +===== Start-Up =====
 +
 +1. Connect the proper cables to the motion PC
 +  a. Mini-HDMI and power connector in back, USB extension in front, and grey USB in front
 +  b. Two black USBs in back, the one labeled "Up" goes into the top port, the other into the bottom
 +2. Follow the startup procedure described in the [[hardware_setup_dw#power-on_power-off|Hardware Tutorial]]\\ 
 +3. Run the daemon and GUI individually, since there is no launcher in this version of PODO\\ 
 +4. Perform a CAN check, using the button located above the joint diagram\\ 
 +5. Use the "Find Home" button to calibrate the motors to the proper positions\\ 
 +6. Use the "Sensor Panel" button, located near the top left corner of the HUBO simulator, to open the panel. Go to the sensor control panel
 +  a. Enable
 +  b. FT NULL
 +  c. IMU NULL
 +  d. FOG Zero
 +  e. FOG NULL
 +7. Open the Freewalking and Walkready ALs (and Omniwheel if needed)\\ 
 +8. Use "Ref. Enable" button to enable the joint reference angle. **DO NOT operate ALs before doing this**
 +  DO NOT use "Ref. Enable" if the simulator HUBO is in a different position than real HUBO.
 +Now you are able to operate HUBO using any ALs that you may need.
 +
 +===== Shutting Down =====
 +
 +1. Go to the home position\\ 
 +2. Use the "Ref. Disable" button\\ 
 +3. Use the "Disable" button in the Sensor Control panel\\ 
 +4. Close all AL's\\ 
 +5. Stop the GUI and Daemon\\ 
 +6. Follow the shutdown procedure described in the [[hardware_setup_dw#power-on_power-off|Hardware Tutorial]]\\ 
 +7. Disconnect all cables from the motion PC
drc_hubo_real_world_dw.txt · Last modified: 2017/04/27 21:49 by dwallace