TerrainHopper: Difference between revisions
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Velocity control through RHD plugin (todo). | Velocity control through RHD plugin (todo). | ||
== Power distribution== | |||
[[power]] and other drawings | |||
==UR5 interconnection== | ==UR5 interconnection== | ||
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Netplan merges the two configuration files, seems to work fine, except wifi. | Netplan merges the two configuration files, seems to work fine, except wifi. | ||
To start the netplan, this command seems to help: | |||
sudo netplan try | |||
====Can bus==== | ====Can bus==== | ||
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Not working off the shelf | Not working off the shelf | ||
Installed CAN viewer from page https://uavcan.org/GUI_Tool/Overview/#linux | Installed CAN viewer (uavcan_gui_tool) from page https://uavcan.org/GUI_Tool/Overview/#linux | ||
sudo apt-get install -y python3-pip python3-setuptools python3-wheel | sudo apt-get install -y python3-pip python3-setuptools python3-wheel | ||
sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core | sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core | ||
sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master | sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master | ||
$ | |||
uavcan_gui_tool | |||
==Steering== | ==Steering== | ||
Latest revision as of 12:29, 17 February 2023
Documentation for modifications and use of TerrainHopper vehicle
Interfaces
Description of the Wheel encoder and RHD plugin
Motor velocity control
Remote control
Velocity control through RHD plugin (todo).
Power distribution
power and other drawings
UR5 interconnection
Power, gripper and camera
Main computer
Ubuntu 18.04 installation
WiFi
Not connected to "WaveLAN IAU"
Switched to netplan, interface with cable OK
Using these two files
/etc/netplan/05-netplan-rj45.yaml
network:
version: 2
renderer: networkd
ethernets:
enp0s31f6:
dhcp4: true
enp3s0:
addresses:
- 192.168.0.210/24
optional: true
/etc/netplan/08-netplan-wifi.yaml
network:
version: 2
# renderer: networkd
ethernets:
enp0s31f6:
addresses: [ 192.168.2.2/24 ]
wifis:
wlp1s0:
dhcp4: yes
access-points:
"WaveLAN IAU":
password: ""
optional: true
Netplan merges the two configuration files, seems to work fine, except wifi.
To start the netplan, this command seems to help:
sudo netplan try
Can bus
Not working off the shelf
Installed CAN viewer (uavcan_gui_tool) from page https://uavcan.org/GUI_Tool/Overview/#linux
sudo apt-get install -y python3-pip python3-setuptools python3-wheel sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master $ uavcan_gui_tool
Steering
Hardware redesign for improved steering with less slag.
