# SLOT Manual
This is the manual for SLOT ( soft worm robot with passive body adaptation for multiple terrains locomotion )

## Equipments
1. SLOT robot with driver circuit set

2. power supply


3. Joystick and USB receiver

4. any computer (for secure shell , window or ubuntu also can use)

## Running the Robot’s Procedure
### Prepare the hardware
1. Connect power supply (~12.5V) to the driver circuit board as figure3

2. Connect the USB joystick reciever to the raspberry pi and try to press any button of the joystick (if use logitec wireless joystick make sure that LED indicator at **"MODE button"** is off)

3. Wait for raspberry pi to boot and it will connect to VISTEC-WIFI automatically

### On The Computer

4. Connect to VISTEC-WIFI
5. Open the computer's **“Terminal”** by pressing **“Ctrl + Alt + t”**
6. ssh to the raspberry pi

ssh rpisoft@10.204.226.199

for the password is

raspi
7. in the terminal that ssh to the raspberry pi launch the program by this command

roslaunch intern101 SoftControl.launch

8. Now you should be able to control SLOT by joystick

## How to control the robot by joystick

To control the SLOT the **red highlight button** is neccesery and the others are optional button (for debug)

- Step 1 : push ***back button*** (ON/OFF Motor 1) and ***start button*** (ON/OFF Motor 2) to on the vacuum pump (you should see two vacuum pump working at the moment )
- Step 2 : control the robot direction by holding **"Control Robot Direction Button"**

:::warning
if you can't control by joystick please make sure that LED indicator at **"MODE button"** is off. Otherwise press the **"MODE button"** to turn it off
:::