Revision as of 11:21, 21 May 2024

Goals

Make adams work reliable at boot given the following HW configuration.

• Use a wireless keyboard with an associate wireless mouse to free one USB port
• An HDMI monitor
• Use the OpenCR which will take the second USB port
• The third USB port will be used by the Lidar version 1
• This leaves two lightning ports
• Using power brick that came with to box

The Setting

.bashrc

Power Up

I had a little trouble with controlling the wheels. In particular, the keyboard_teleop didn't work. The following sequence turned out to be reliable. This is something to be debugged latter. In years past I booted the OpenCR and NUC simultaneously.

1. Power on the OpenCR board first
   1. wait for the boot finished chime
2. Test the OpenCR by striving the wheels with Robotis controller
   1. Using the Robotis xxx Controller 20240521
3. Power up adams and log in
4. In T1 bring up
   1. $ source scripts/bringup.sh
5. in T2 bring up the keyboard teleop program