updated documentation to add GUI instructions

README.md

@@ -33,6 +33,7 @@ This ROS package and associated GUI make use of the 6-axis force/torque sensor o
 ### Start Armstron
 1. _(Host Computer)_ Choose "Armstron" from your application menu (Super + A).
     - This starts communication with the robot arm, starts the Armstron test server, and starts the Armstron GUI.
+b. _(Teach Pendant)_ Run the "EXTERNAL_CONTROL.urp" program.
 2. Use the GUI to load/build test profiles, set data save locations, and run tests.
 
 
@@ -51,8 +52,8 @@ Since everything is modular, you can run each part of the Armstron software stac
 2. Start a test (new terminal):
 
 ```bash
-    roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/vinst_data/testing_launch.csv"
-    roslaunch armstron run_test.launch config:="ceti_force_hold.yaml" save:="~/vinst_data/testing_launch.csv"
+    roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/armstron_data/testing_launch.csv"
+    roslaunch armstron run_test.launch config:="ceti_force_hold.yaml" save:="~/armstron_data/testing_launch.csv"
 ```
 
 ### Start the GUI

docs/examples/gui_test.rst

@@ -0,0 +1,53 @@
+.. _gui:
+
+.. |up|   unicode:: U+25B2 .. UP
+.. |dn|   unicode:: U+25BC .. DOWN
+.. |x|    unicode:: U+274C .. X
+
+
+==========
+Run a Test
+==========
+
+
+Lets walk through the easy way to build and run tests.
+
+
+.. contents:: Contents:
+    :local:
+    :depth: 1
+
+
+
+
+Startup
+_______
+
+1. Bringup the robot
+    a. *(Teach Pendant)* Turn on the robot, get into _manual_ mode, then load the "EXTERNAL_CONTROL.urp" program.
+    b. *(Teach Pendant)* Start the robot (tap the small red dot on the bottom left corner)
+
+2. Start Armstron
+    a. *(Host Computer)* Choose “Armstron” from your application menu (Super + A).
+    b. *(Teach Pendant)* Run the "EXTERNAL_CONTROL.urp" program.
+
+
+Build a Test Profile
+___________________
+
+1. Click the "Load" button and choose an existing profile
+2. Use the |up| or |dn| buttons to move a step up or down
+3. Use the |x| button to remove a step
+4. Add a step to with the "add step" buttons.
+
+
+Run a Test
+__________
+
+1. Choose where to save data.
+2. Run a test using the "Run Test" button.
+3. Abort a test using the "STOP" button. *Note: Data is saved continuously during tests, so your data is safe even if a test gets aborted.*
+
+
+.. note::
+    Pictures of the GUI in action are coming soon!

docs/examples/index.rst

@@ -8,6 +8,6 @@ Some basic examples of how armstron can be used will be include here. You can fi
 .. toctree::
     :maxdepth: 1
 
-
-    first_test
-    gui
+    gui_test
+    manual_test
+

docs/examples/first_test.rst → docs/examples/manual_test.rst

@@ -1,8 +1,8 @@
 .. _first_test:
 
-==========
-Run a Test
-==========
+===================
+Run a Test Manually
+===================
 
 Lets walk through the manual way to build and run a test.