# Dung beetle Robot Manual :bug:

<!-- For Ball rolling DEMO ( rolling{ normal → move around ball → normal } ) -->

## New version of the manual:

Please go to [this](https://www.notion.so/Dung-beetle-Project-How-to-Run-e00de2f939b349a2a927346626cfba73?pvs=4) for new version of the manual

## Robot setup:

The Robot and equipments are placing at the cart.

#### Power the robot
Connect power to both sides of the connector (yellow- XT60), using 12 V voltage supply to power dynamixel motors. There are 2 options that we can puower the robot
- option 1: power the robot by using power supply. This option is suitable for Labaratory Experiment. Set the voltage of the power supply to be 14 V (because of small voltage drop of the circuit). Set the current to the maximum (specifically for rolling behavior which use high energy consumption compare to locomotion).

- option 2: power the robot by using 2 pack of the LiPo battery (each pack is 24 V, with 1850 mAh)

To open the OdroidC4, push a power switch on the top of robot. <b> Note:</b> If the power is plug in to the motor, you should see the red blink at the dynamixel motor.

## Setup the Computer
This manual assume that the ROS2 is already installed in the computer. We have test this software in the ubuntu 22.04 with ROS desktop Humble.

### setup the network connection for ROS2 communication
#### setup wifi hotspot

In our network setup, the Odroid will connect to the wifi hotspot (name: dbAlphaAP, no password) which created from the TP-link wifi adapter (adapter plugin to the computer).

There are 2 option to set up the wifi hotspot: 1. go to the setting of the ubuntu and create the hotspot (do not set password) or 2. create the hotspot by using the [software for creating hotspot in ubuntu](https://github.com/oblique/create_ap).
- <b>Note:</b> if haven't install the driver for the wifi adapter, please follow this manual [link](https://community.tp-link.com/en/home/forum/topic/547276)

#### setup ROS 2 parameters
set up the ROS_DOMAIN_ID in the ~/.barchrc file to equal to 3. <b>Note: </b>this parameter is already set in the ubuntu Mate 22 of odroidC4 to enabling the communication between machine.

ROS_DOMAIN_ID=3

#### Check odroid connection
To check if the odroid connect to the hotspot, ping to the ip of the odroid.

ping odroid@192.168.12.35

- if cannot ping to the odroid, reinsert the odroid wifi adapter to make it reset the wifi connection and ping the odroid again.

### setup robot controller
#### Download robot controller software

The neural control software for locomotion and object manipulation is located in the gorobots repository of ENS_SDU and also in BrainLab biorobotic Repo.
- Open new terminal (Ctrl+T). Then, create a workspace and download the neural control software.

mkdir -p workspace
cd workspace
git clone https://gitlab.com/BRAIN_Lab/public/imnc.git 

#### build package
- In the terminal go to imnc/projects/db_alpha/walking_neural_control/real/ros2_ws. Then, build the package using colcon build.

cd /workspace/imnc/projects/db_alpha/walking_neural_control/real/ros2_ws
colcon build

- After finish build process, source the package to enable the terminal to find the package.

. install/setup.bash

#### Test run
- test running the software

ros2 run walking_neural_controller db_beta_controller 

- Try Press “w” button on Keyboard, to see if the controller exibit forward walking control.
<!-- - Lift the robot on the ball, Press “R” button on Keyboard -->

### Running the simple demo
#### SSH to the Odroid

- SSH to the Odroid run robot driver node. the password for log in is 'odroid'

ssh odroid@192.168.12.35

#### motor interface
- source and run dynamixel motor interface (db_beta_interface position controller). The control will hardening the motor if running succesfully.

 sros2dxl
 db_beta_interface_pos

- <b> Note: </b> If the motors are distorq when running the program, run the reboot program in the window that running the dynamixel motor interface
#### IMU interface
To interface the Phidgets IMU, we need to open a new terminal and ssh to the odroid using the prevous commands.
- source and run phidget imu driver. The control will hardening the motor if running succesfully.

 sros2phidgets
 phidgets_db

After runnning the dynamixel motor and phidget IMU interface, try to run the neural controller on the computer to see if the computer can send and recieve data with Odroid.
- In the terminal window of the computer, run the neural control.

ros2 run walking_neural_controller db_beta_controller 

- Try Press “w” button on Keyboard, to see if the controller exibit forward walking control.

## Robot maintenance
#### Screw tightening
Every time before and after experiment, check the tightness of the screw or look if the screw is loosed (screw move out of the ).
#### dynamixel motor wire
If running the motor interface and cannot found the motor, the wire connect to the motor might be broken.
#### Lipo Battery
Lipo battery can power the robot for around 1 hr. Charge the LiPo battery with Balanced charge mode (6s, 1.5A) at the LiPo charger. take around 1 hr to fully charge.