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Low level controller for the Hubo 2 and Hubo 2+ platforms designed by Daniel M. Lofaro. The system is based on the IPC called ACH by Neil Dantam and Mike Stilman.

Install

• Add this line to /etc/apt/sources.list:

    deb http://code.golems.org/debian squeeze golems.org

  Note: (Replace squeeze with the codename for your distribution, ie lucid,
  precise, etc.)

• Update and install dependencies:

$ sudo apt-get update
$ sudo apt-get install libach1 libach-dev
$ sudo apt-get install ach-utils
$ sudo apt-get install libreadline-dev

Config, Start and Stop Daemon:

• Setup Config (first time only or new builds and param changes)

	$ sudo ./run.sh config 

• Start hubo-ach daemon. This will automatically start hubo-console as well CAN packets will not start to be sent

	$ sudo ./run.sh start 

• To stop hubo-ach daemon

	$ sudo ./run.sh stop 

Usage:

hubo-console:

Startup:

•   Home all motors and zero sensors
  

>> hubo-ach: homeAll
>> hubo-ach: iniSensors

Functions:

"initilize XXX" - sets defaults to motor XXX and turns on FETs
"initilizeAll"  - sets defaults to all motors and turns on all FETs
"home XXX"      - homes motor XXX
"homeAll"       - homes all motors that are active
"goto XXX val"  - sets motor XXX to goto position "val" in rad.
                  uses linear interpolation via hubo-ref-filter
                  0.5 sec linear filter by default
"get XXX"       - gets current encoder location of motor XXX
"zero XXX"      - zero the sensor XXX
"zeroacc"       - zero the foot accelerometer XXX
"iniSensors"    - zero all sensors

Functionality:

Feedforward:

            * set position reference (rad)

Feedback:

            * get encoder position (rad)
            * get IMU x angle (rad)
            * get IMU y angle (rad)
            * get IMU Vx velos(rad/sec)
            * get IMU Vy velos(rad/sec)
            * get FT Mx moment (Nm)
            * get FT My moment (Nm)
            * get FT Fz force (N)
            * get foot angle from acc Ax (rad)
            * get foot angle from acc Ay (rad)
            * get foot G-force acc Az (G)

Motor Control:

            * home motors
            * reset to defaults

Driver

• CAN
• PEAK PC-104 Plus Quad with SocketCAN