chip updates: IMP. CHIP STARTUP PROCEDURE AND ZEROING [updates]
Okay, so now that chip sits down onto and stands up from the floor. We're ready to generate a startup procedure. This is important to do because in the event of walking, we can't just place the feet at any random position before we start trying weight shifts and etc, we need to place it in the position where it would be if it had just stood up. And we need to try to develop a robust way to shift weight and step. So here it is.
step one: place chip flat on the ground and zero the legs.
Placing chip flat on the ground as shown with the motor faces flat on the ground and the legs in the zero-position will allow for easy zeroing of the legs. The motors on the legs were accidentally designed so that if their face is flat against the ground, then the upper leg is in the zero position with respect to the rest of the body. The lower legs need to (currently) be eyeballed to be parallel with the floor.
This procedure must be done every single time the robot is turned on. The robot will lose its zero when turned off. But unless a command is sent to re-zero the robot, there should be no reason for the robot to lose its zero while the robot has not lost power/is on.
step two: plugging in cables and turning the robot on.
The next step (in a lab setting) is to make sure the robot's cables are plugged in. That's the following.
(1) Ethernet Cable to the computer being used to upload code to the robot.
(2) USB B Cable to the computer being used to enable/disable the robot.
(3) Power Cable to the power supply.
Then we turn the robot on so we can wait for communications and initialization to happen.
(1) SET THE POWER SUPPLY TO BETWEEN 24 AND 30 VOLTS
(2) TURN THE POWER SUPPLY ON BEFORE YOU TURN THE ROBOT ON
(3) Then turn the robot on and also ensure Driver Station is open on the computer. If driver station has been open for a while, we suggest re-starting it.
(4) Ensure the joystick is plugged into the computer running DS!
step three: verifying the code on the robot.
While the robot is initializing, it's a good habit to go to the computer and check the branch the robot is supposed to be on, then visually inspect the code, then re-upload the code to verify before enabling the robot. Unless you're certain the correct code is loaded.
This step may take a few minutes/tries depending on how long it takes for the robot to receive communications.
step four: enable the robot and make it stand!
Then you're ready to enable the robot and press the "A" button to make it stand up. WARNING: DO NOT DISABLE THE ROBOT WHILE THE ROBOT IS STANDING. PRESS THE "B" BUTTON FOR THE ROBOT TO SIT BACK DOWN BEFORE DISABLING THE ROBOT.