Adept Instructions For Perching Plane Testing

Powering on and off

• To power on:
  • Plug in fans (behind arm on the floor)
  • Turn power switch to "on" (across from the whiteboard)
  • Once the computer powers up, enter on the screen:
    • en pow (enables power)
    • cal (calibrates arm)
• To power off:
  • Enter on screen "dis pow" - disables power
  • Turn power switch to "off"
  • Unplug the fans

Running the Adept Directly

Computer Commands

• dir (shows whatever is in active memory)
• zero (deletes active memory)
• fdir (lists program you can load from hard disk)
• fdir programname (brings up program programname)
• load programname (loads programname)
• see programname (shows contents of program so you can view and edit)
• i (once inside a program, switches to insert mode to edit program)

Action Commands (enter DO before commands and "return" to execute them):

• MOVE location - moves the robot to a specified location using the easiest path
• MOVES location - moves the robot to a specified location in a straight line
• MOVET location, gripper state - moves the robot to a specified location using the easiest path and opens (0) or closes (1) the gripper simultaneously
• MOVEST location, gripper state - moves the robot to a specified location using in a straight line path and opens (0) or closes (1) the gripper simultaneously
• OPENI - opens gripper
• CLOSEI - closes gripper
• RELAXI - relaxes gripper (turns of pneumatics)
• PAUSE - pauses program execution until user types "proceed"

Important Functions:

Transform Function - TRANS - Returns a transformation value computed from the given X, Y, Z position displacements and y, p, r orientation rotations.

• Syntax: TRANS (X, Y, Z, y, p, r) (NOTE: If a parameter is omitted, value is taken to be zero)
• In English: specifies a point to which you want to move. TRANS(1, 1, 1, 0, 180, 90) will return the point (1, 1, 1, 0, 180, 90) that you can then move to.
• To use: SET loc_a = TRANS(X, Y, Z, y, p, r)

Shift Function - SHIFT - Return a transformation value resulting from shifting the position of the transformation parameter by the given shift amounts.

• Syntax: SHIFT (location BY xshift, yshift, zshift) (NOTE: If a parameter is omitted, value is taken to be zero)
• In English: specifies the amount to shift each value. Whereas transform specifies a new point altogether, shift specifies the amount to change each.
• To use: SET loc_b = SHIFT(loc_a BY deltaX, deltaY, deltaZ)

Running the Adept through Other Computer

Initiating the Process

• Start up computer (baya.stanford.edu)
• Enter username and password to log on
• Right click on desktop and start terminal
• Enter: cd /home/alexis (loads alexis)
• Enter: ls (lists all files)
• Enter: cd src (loads source)
• Enter: emacs baya.c & (brings up code)
  • Within this code, there are only a couple blocks of code we need to worry about:
    • Ctrl-s searches; search for "alexis" (ctrl-s cycles through successive instances)
    • In 2nd code block: only worry about number in "if" condition statement
    • In 3rd code block: only worry about number in "for" condition statement
• Enter cd .. (goes back one level)

Preparing Programs

• In /home/alexis, enter:
  • make rtaiin
  • make comediin
• Enter: cd src (to go to source again)
• Enter: make (compiles program)

Executing Programs

• Start the Adept
• On direct Adept system and computer:
  • Load program (in our case: alexis.pg)
  • Execute program (in our case: throw)
• On baya.stanford.edu:
  • Open MATLAB (enter 'matlab' in terminal window)
  • While in /home/alexis: ./bin/baya will (execute program)
• To stop data collection, 'c'
• To terminate program, 'ctrl-c'
• To put data into a file that MATLAB can plot, enter: mv -f bayadata62_5Hz.txt bayadata62_5Hz.m
• Go to MATLAB and open bayadata62_5Hz.m and run it. Voila!