Chiara hardware checkout

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1. Turn on main power: you should see the blue power light and hear one sharp ping from the AX-S1.

  • If no blue blight comes on, check that the power adapter is plugged in and the robot's power switch is pointing towards the power plug (to the right). Moving the switch to the left selects battery power; make sure the battery's charge and discharge cables are plugged in and the battery is charged.
  • If you hear an ongoing stream of unhappy-sounding pings, the neck servo cables are joined incorrectly and you're swapping power with ground.
  • If you hear no ping, the neck servo cable has become detached; reconnect it.

2. Connect the Chiara to your local wired Ethernet. You should see flashing yellow and green lights around the Ethernet jack. You will need to be running a DHCP server so the Chiara can get an IP address. If the robot doesn't boot:

  • The processor power switch could have become disconnected from the motherboard. Reconnected it.
  • The disk drive could have failed.
  • The motherboard could have failed.

3. Turn on computer power and look for fan noise and a yellow disk activity light. After booting completes, ssh into the robot and log in.

  • If you can't get an ssh connection, connect a monitor to the VGA port and see if the robot is booting properly.
  • If it's booting but the network connection isn't working, plug in a USB keyboard so you can log in on the console and diagnose the network problem.

4. Type "lsusb" and make sure you see 3 devices, plus some "Linux hub" entries:

"Logitech" = the webcam
"Ralink" = the WiFi adapter
"FTDI" = the Dynamixel USB interface module

5. Scan the Dynamixel bus to make sure all the servos and AX-S1 are happy:

/usr/local/Tekkotsu/tools/Dynamixel scan 1-27 100

You should see live servos on #1-22 and #26-27 and an AS-S1 at #100. Servos 23-25 should not be present; those numbers are reserved for the analog microservos that drive the gripper.

  • If the utility refuses to run and complains that there is no /dev/ttyUSB0, then the the USB cable connecting the Dynamixel USB interface module to the Pico-ITX isn't plugged in.
  • If the scan utility runs normally but shows no servos present, then either the power connection to the Dynamixel USB interface has come loose, or a servo cable is shorted out, which shorts out the entire bus. To find the short, start unplugging servos until the bus comes back.
  • If the scan shows some servos present and some missing, and it reports data errors, then it's likely that two servos were programmed with the same ID. Start unplugging servos to diagnose the problem.

6. Talk to the SSC-32 board to make sure it's functioning:

talkSSC                 Runs kermit and connects to the ssc-32
ver                     Should reply with "SSC32-V2.01XE"
  • When you first apply power to the SSC and haven't talked to it yet, a green LED should be lit. The LED goes out once you start talking to the board. If you don't get the green light, there's some kind of power problem.
  • Check that the SSC-32 is receiving power.
  • Check that the serial cable is plugged into the Pico-ITX.
  • Another possible cause of SSC-32 failure is if the servo cable from the buttons is plugged in incorrectly, it can short power to ground and shut down the SSC. Check all the servo cables and try unplugging them if necessary.

As you proceed to talk to the SSC, type control-J's to force linefeeds so you can read the output cleanly.

To test the LEDs, type:

#12H        green LED on
#13H        red LED on
#14H        yellow LED on
#15H        blue LED on

#12L #15L   green and blue LEDs off

Test the buttons by doing the following:

  • Type "AL BL CL" and hit Return and control-J. You should get "111".
  • Press the green button.
  • Type "AL BL CL" and hit Return and control-J. You should get "011".
  • Type the command again. This time you should get "111".
  • Press the red and yellow buttons.
  • Type "AL BL CL" and hit Return and control-J. You should get "100".
  • Type the command again. This time you should get "111".

To exit Kermit, type control-\ followed by "c" to get back to the Kermit command prompt, then type "quit".

7. Start Tekkotsu:

cd /usr/local/Tekkotsu//project 
./tekkotsu-CHIARA

The robot should say "Chiara ready" to indicate that Tekkotsu has started up.

  • If there is no sound, check the speaker volume settings by running alsamixer, and verify that the speaker is plugged in.

8. Fire up a ControllerGUI on your laptop and connect to the robot.

9. In the ControllerGUI, click on RawCam and make sure you can get camera images. Click on the "H" button in the Teleop row to activate the Head Remote Control, and move the pan/tilt around. Click on the "A" button to move the arm.

10. If everything above checks out okay, then take the robot for a walk by clicking on the "W" button in the Teleop row. Be careful that the robot is not near the edge of the table when it attempts to stand up.

  • If you need to investigate individual servos, go to Root Control > File Access > Posture Editor and you can set servo positions directly.
  • If the servos suddenly stop responding and the Dynamixel board locks up (no servos visible in a scan, but lsusb shows the board itself is still alive), the problem may be a bad servo that is intermittently shorting out the bus. To isolate the servo, pull cables out of the Dynamixel board until the problem goes away.