drc_hubo_real_world_dw
Differences
This shows you the differences between two versions of the page.
Last revisionBoth sides next revision | |||
drc_hubo_real_world_dw [2017/01/12 15:15] – created dwallace | drc_hubo_real_world_dw [2017/04/05 13:48] – dwallace | ||
---|---|---|---|
Line 9: | Line 9: | ||
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: | ||
+ | |||
+ | 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 " | ||
+ | 2. Follow the startup procedure described in the [[hardware_setup_dw# | ||
+ | 3. Run the daemon and GUI individually, | ||
+ | 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 " | ||
+ | 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" | ||
+ | DO NOT use "Ref. Enable" | ||
+ | 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" | ||
+ | 3. Use the " | ||
+ | 4. Close all AL' | ||
+ | 5. Stop the GUI and Daemon\\ | ||
+ | 6. Follow the shutdown procedure described in the [[hardware_setup_dw# | ||
+ | 7. Disconnect all cables from the motion PC |
drc_hubo_real_world_dw.txt · Last modified: 2017/04/27 21:49 by dwallace