# DACBOT Manual

1. Open the computer as *Figure 1*.

*Figure 1 Power button of computer.*

2. Open the power supply as *Figure 2* and make sure that voltage is ~7.5 V and Control board is bright as *Figure 3*. (if it is not bright, please check the cable connectivity)

*Figure 2 Power supply is on.*

*Figure 3 Control board is opened.*

## Run Treadmill
1. Turn on the treadmill power as *Figure 4*.

*Figure 4 Treadmill's power button is on.*

2. Open the "**Terminal**" by pressing "**Ctrl + Alt + t**".
3. Run treadmill by using command below:

$ sudo cutecom

4. Make sure computer is connected with treadmill via USB port. The default connection is */dev/ttyUSB0*. Click "**Open device**" as *Figure 5A*.
5. Setting speed of treadmill by double clicking older command as *Figure 5C* or enter the command in the "**Input**" box (below the Cutecom's window as *Figure 5B*).

#Set speed of Treadmill equal to 25 rpm (Run traedmill)
SET_VEL 2500
#Set speed of Treadmill equal to certain speed XXXX rpm
SET_VAL XXXX

6. Press "**Enter**" to run the command.

*Figure 5 CuteCom's window. A). Device connection B). Input box C). History of command*

## Stop Treadmill
1. Enter the command in the “**Input**” box (below the Cutecom’s window).

#Set speed of treadmill equal to 0 rpm. (Stop treadmill)
SET_VEL 0000

2. Press “**Enter**” to run the command.
3. Turn off the Treadmill's power as *Figure 6*.

*Figure 6 Treadmill's power button is off.*

## Run DACBOT
1. Open the another "**Terminal**" by pressing "**Ctrl + Alt + T**". Using command below:

#Go to DACBOT's program path.
$ cd ~/workspace/gorobots/projects/runbotii_dacbot/dacbot_adaptive_two_cpgs/real

#Run DACBOT's program
$ ./run

2. Terminal will be show up menu as *Figure 7*.

*Figure 7 DACBOT's mode menu.*

#### Test DACBOT's motors

3. Typing "**2**" to run the DACBOT in "**Check motors values**" mode and press "**Enter**".
4. DACBOT's motors **must be moved every joints** as *Figure 8*. (if it is not, please try to check cable conectivity at cable junction ports as *Figure 9*)

*Figure 8 DACBOT's motors testing.*

*Figure 9 Cable conectivity at cable junction ports.*

#### Run DACBOT for DEMO
5. Press "**Ctrl + Z**" to close the DACBOT's program.
6. Run DACBOT's program again by using command below:

#Run DACBOT's program
$ ./run

7. Typing "**4**" to run the DACBOT in "**Two CPG Control**" mode and press "**Enter**". DACBOT will walk on Treadmill as *Figure 10*.

*Figure 10 Two CPG Control mode gait.*

## Stop DACBOT
1. Press "**Ctrl + Z**" to close the DACBOT's program.
2. Turn off power supply.

*Figure 11 Power supply is off.*
##