Manual Control

HOW TO RUN ROBOT

Pi:

1. ssh into pi with 2 sessions ssh [email protected]

2. on first session: run roslaunch manual serialLaunch.launch to connect pi with arduinos

   Alternately, these are the commands for each node individually if the launch file errors. the port options are ACM0, ACM1, AMA0, AMA1; try each if errors persist rosrun rosserial_python serial_node.py __name:=serial_node1 _baud:=9600 _port:=/dev/ttyACM0 and rosrun rosserial_python serial_node.py __name:=serial_node2 _baud:=9600 _port:=/dev/ttyACM1

3. on second run rosrun manual AlternateManualCommand.py

Alternately, to view message & message feedback run: on second: run tmux
then: ./startScript to start & view message output

sending commands:

On the laptop, type a key + enter to send commands to robot according to the following:

'''
Key press       Command
 enter          stop all motors
 9              quit & exit 

 w              drive forward
 s              drive backwards
 a              turn in place left
 d              turn in place right
 p              pack in
 o              pack out

 r              raise bucket chain
 f              lower  bucket chain
 t              run bucket chain slow (reverse)
 y              run bucket chain fast with ramp up
 g		run bucket chain fast with ramp up while slowly lowering

 z              raise conveyor belt
 x		lower conveyor belt
 c		run coneyor belt