SpiderRobot

===========

Current Startup for joystick teleop

Plug Battery alarm into Lipo balance cable
Multicolored cable coming from battery. This will protect the battery from over-discharge. It will warning you when the battery is empty.
Power on Robot
Black switch wired to the yellow battery connector

Plug in Motor controller logic battery
Plug 9V battery

Turn on motor controller
Silver switch next to motor controller

Ssh into Hexapod Raspberry Pi computer
May take 2 minutes to boot
If using Linux machine and Baxter router, where the username is ubuntu and the IP address is 192.168.0.108

$ ssh -X [email protected]

Depending on your network you maybe able to use the hostname rather than the IP.

Start up ROS and teleop program

$ screen

[enter]

$ sudo bash

# roslaunch SpiderRobot_pkg SpiderRobotDemo.launch 

Start joystick
Press the playstation logo button on the center of the PS3 coontroller
Wait for stand up movement to finish than teleop

Shut down
Use this command on the Raspberry Pi

$ sudo shutdown -h now

or if you are in sudo bash simply

# shutdown -h now

Turn off silver motor controller switch
Remove 9v battery
Remove the lipo alarm
Wait 2-3 minutes for RPi shutdown and turn off black main power switch

Old Startup for joystick teleop

This is still available in case a launch file is not working or any other reason.

$ rosrun ps3joy ps3joy.py  
$ rosrun joy joy_node  
$ roslaunch SpiderTeleop_pkg teleop_joystick.launch  
$ rosrun SpiderRobot_pkg SerialController  
$ rosrun SpiderRobot_pkg MovementController_pubsub