====== Creating a New AL for HUBO ======
**Author:** Alvaro Pintado    Email: pintado@unlv.nevada.edu
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**Date:** Last modified on 11/19/16
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**Keywords:** Humanoid, HUBO, Software, PODO, AL Creation
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Follow this lengthy set of steps in order to kind of create  a new AL for HUBO.

=== Setting up a new AL Sub-project in Qt ===

  - Open the PODO project (including PODOGUI, ALTutorial, sub-projects)
  - Check for correct build settings
  - Create a sub-project (Qt console application
  - Copy the Basic Files folder from src/ALPrograms/ALTutorial into the sub-project folder
  - Navigate to the main.cpp
  - Open the ALTutorial project and copy the code in main.cpp into the sub-projects main.cpp to utilize as a template
  - Rebuild your sub-project
  - Add to Git version control
  - Change AL Name to unique name 
  - In main.cpp, declare <code>
    enum{
         enum = [enum_identifier];
    }; </code>
  - In PODOGUI subproject, add new > Qt > Designer Form Class
  - Select Dialog with Buttons
  - Name everything the same as the AL to make your life simpler when debugging
  - In the projectdialog.h, include CommonHeader.h
  - Under private: <code>
    int [int_identifier]; </code>
  - In Dialog.cpp include PODOALDialog.h
  - Declare the same enum in the dialog.cpp
  - Set the dialog function <code>
    [enum_identifier] = PODODialog::GetALNumFromFileName("ALName") </code>
  - In dialog.ui, make a button 
  - In the QDialog menu, change the object name
  - Right click the button and go to Slot, and select clicked() event
  - In dialog.cpp, in button function clicked() add <code>
    USER_COMMAND cmd;
    cmd.COMMAND_DATA_USER_COMMAND = [enum_identifier];
    cmd.COMMAND_TARGET = [int_identifier];
    pLan->SendCommand(cmd); </code>
  - In PODOGUI sub-project, under GUIMainWindow.h and include dialog.h
  - Under the //User Dialog section//, make a pointer to the dialog class
  - In GUIMainWindow.cpp, under the section under //Expandable Dialogs// add <code>
    ui->MAIN_TAB->addTab((QWidget*))dialogpointer, "tab name"); </code>
  - In the Ubuntu Software Center, download and install the SQL Database browser
  - Open it up and stuff and go to AL table > New Record
  - Add [ALName], FileName, and set the Pathname (similar to the ones before it)
  - In General Table, increment PODO AL amount by 1
  - Write Changes

=== Giving the New AL Functionality ===

  - In the main.cpp of the AL, add a switch statement with a case equal to your enum
    - Ensure the enum is declared in your main.cpp
  - Copy the case code from case: 999
  - Change the SetMoveJoint to RSP
  - Change to MOVE_RELATIVE
  - The line after is the "Don't Do Shit Anymore" command
    - -//Santiago Ricoy//
  - Rebuild the project

=== Using the New AL in PODOGUI ===

  - Launch PODOLauncher
  - Start Daemon and GUI
  - SQL Build path to /Subproject Folder
  - Select the new AL in the AL Modules
  - Under the newly created tab will be the new button made for the functionality of the AL