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hubo / hubo-ach

Low level controller for the Hubo 2 and Hubo 2+ platforms designed by Daniel M. Lofaro. The system is based on the IPC called ACH by Neil Dantam and Mike Stilman.
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Safe compliance switching & Neck working & Home parameter loading #37

Closed mxgrey closed 11 years ago

mxgrey commented 11 years ago

For instructions on how to save and load parameters, type $ hubo-homeparams without passing in any arguments, and it will print out this set of instructions:

usage: hubo-homeparams [argument] [target file] [optional]

   arguments:
       -s or --save  : Saves the current home settings into [target file]
       -l or --load  : Loads the home settings from [target file] onto the boards
       -p or --print : Prints a table of joint settings out to the terminal

   target file: You are recommend to provide the full path of a file

   optional: Tells the -s/--save argument what format to store position data in
       raw : Position data will be stored in encoder units
       rad : Position data will be stored in radians

The important thing is that giving a flag of "-s" will save the current settings into whatever file you specify, and a flag of "-l" will load whatever file you specify.

I strongly recommend only using full paths for any target files, because I have not tested what happens when you give relative paths. I would guess that it will just fail to find the file.

We have the default beta-1 settings saved in tables/drc-hubo-beta-1-default.home, but that table was saved a week ago, so it should probably be updated. I don't know where the RAINBOW settings were most recently saved for beta-2; we'll have to ask around for that.

If there's anything I'm forgetting to mention, please let me know.

--Grey