RiSE Platform Test Instructions

Generally, it can take a team of 2 or 3 people to safely handle the robot. Person #1 is at the OCU, logging data and monitoring for bus syncronization (communication) errors. Person #2 is the operator of the robot, via the joystick. Person #3 is the belay person, who keeps the robot from being damaged by falling or other means.

Starting the robot

  1. Strap the battery to the body
    • Make sure the battery has a good charge (see RisePlatformSetup)
    • Plug in the 3 RMC power connectors to the battery
    • ALERT! Note: The bottom one is jumpered to power the carrier board
  2. Plug in the ethernet cable
  3. Hit the RED power switch on the tail
    • ALERT! Note: This is a 2-position switch, so be sure to return it to the OFF position when done.
    • ALERT! Note: It takes about 20sec for the system to fully boot.
  4. Log onto the robot from the OCU laptop (Use a terminal window)
    • $ ssh rise@surise
    • Password: (you need to get this from someone who knows it)
    • $ cd RoboDevel/RiSE/Supervisor (Shortcut@SU: cd supervisorLink/)
    • $ su
    • Password: (you need to get this from someone who knows it)
  5. Start the OCU on the laptop (Use a 2nd terminal window)
    • $ cd RoboDevel/RiSE/Operator (Shortcut@SU: cd operatorLink/)
    • $ ./start.sh 3000 surise (This will bring the GUI up on the screen)
  6. Start the Supervisor on the robot
    • Go back to the first terminal window and type the following
    • # ./start.sh -d
    • ALERT! Note: Watch the screen and make sure there aren't too many bus errors
  7. Check the OCU GUI and make sure the green [Network OK] sign is on.
  8. Click [Connect] (This will bring up RiSE health Monitor)
    • ALERT! Note: Watch the screen and make sure there aren't too many bus errors
    • You may want to make sure everything is OK by wiggling the legs (you should see the dials in the health monitor moving)
  9. You should use the joystick to control the robot from here on, until you're finish
    • You need to:
      1. Calibrate
      2. Select CustomGaitX mode
      3. Select group
      4. Select gait
      5. Launch the gait
      6. Adjust the speed & direction (forward, reverse, left, right) as needed
      7. Repeat #3-7 as needed
    • Note: Even if you change something on the OCU GUI, it continually polls the joystick, so any differences can take affect sporadically (ie. speed changes, or accidental button press)
  10. When you're done, quit the supervisor by typing Ctrl-C in the supervisor terminal window
  11. Close the OCU GUI by hitting [QUIT]
    • If you leave the OCU GUI open, it causes unnecessary network traffic b/c it is looking for the robot continously
ALERT! NOTE: A series of bus syncronization errors can cause the supervisor to terminate. These errors can also affect the performance of the robot. These errors will look like this in the supervisor terminal window or the OCU CUI Message window:
     11 - 3535458[255]: Warning in RB_CollectModule::update: Failed(0) at 3.5354580 for 3.5344590
     12 - 3536458[255]: Warning in RB_CollectModule::update: Bus 0 lost synchronization!
     13 - 3538458[255]: Warning in RB_CollectModule::update: Failed(0) at 3.5384580 for 3.5374580
     14 - 3539458[255]: Warning in RB_CollectModule::update: Bus 1 lost synchronization!
     15 - 3541458[255]: Warning in RB_CollectModule::update: Failed(0) at 3.5404580 for 3.5404580
     16 - 3542457[255]: Warning in RB_CollectModule::update: Bus 2 lost synchronization!

Controlling the robot

The LogiTech Wingman Cordless joystick runs off of 4AA batteries, so just make sure they're charged. The joystick automatically powers down after a certain time of inactivity. Press START to wake it up.

Important buttons/sequence

This is a typical startup sequence to get the robot moving, once the supervisor and operator are started properly.
Buttons Function
R1+A Calibration mode
L1+L2 Start calibration
R1+Z CustomGaitX mode
?? ?? Select a group and gait
START Launch the gait (ie. goes to the initial position, make sure the
speed is low (to the left))
L1+L2+R1+R2 (All 4 on top together) - Emergency STOP (exits all modes)

Other joystick actions

Action Function
R1 + (A,B,C,X,Y,Z) Select mode (ie. Calibration, CustomGaitX, etc.)
L1 + (A,B,C,X,Y,Z) Select group (ie. CMU climb, CMU walk, BDI climb, SU climb)
A,B,C,X,Y,Z Select gait (depends on group. ie. Cork Tripod 75, Plexi Tetra 50, Cork TriRip? 75)
START Launch the gait
RIGHT joystick Forward, Reverse, Turn Left, Turn Right, Stop (centered)
LEFT joystick Cruise control (Toggle on/off)
Throttle Speed of gait (left=slow, right=fast)
L1+L2+R1+R2 Emergency STOP (exits all modes)

Important terms

Here are some important terms related to using the RiSE platform.
Item Description
OCU Operator Control Unit (aka Operator) is the GUI on laptop that
communicates with the robot and displays the status
Supervisor The main control program for the robot. This runs under the
QNX system on the robot and makes everything happen
(sensors, motors, power to motors, etc.)
RMC RiSE Motor Control boards sit under the robot, above the battery.
These 3 boards have the driver circuitry to control
the 12 motors
Carrier board This board sits on the top of the body and holds the CPU
board and connects to the CF board
Power regulator board This is the small white package in the rear of the robot.
It takes 13+ volts from the battery and delivers a
regulated 3.3V and 5V to the carrier board.
CPU board This is the small board that plugs onto the carrier board
and contains the processor (Geode model xxxx)
CF board This board contains the compact flash (CF) slot for the
memory card and is connected by a IDE ribbon cable to the
carrier board. The 256MB CF card contains the QNX
system and the software to run the robot.

-- AMcClung? - 01 Mar 2005

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