Console
General
The main program is controlled via a terminal program:
The screen is divided into three parts:
- Log: Information will be displayed here (use CUtil::cout()).
- Status: Cartesian position and orientation of every limb.
- Command Line: Enter commands here.
Command List
The following commands are supported:- on:
Enable writing data to robot (enable simulation mode). - off:
Disable writing data to robot (disable simulation mode). - ron:
Enable reading data from robot. - roff:
Disable reading data from robot. - script:
Execute script file. - s:
Store motion to file. - l:
Load motion from file. - dh:
Display Denavit Hartenberg parameters. - playshow:
Executes show program (custom-built humanoid only) - cam:
Set Camera (visualisation) to a robot frame. - setrobot:
Set robot controller parameter (see controller/readme.txt). - setparam:
Set floating point parameter (can be used in own programs). - quit:
Quit program. - moveto:
Move limb to a position with orientation and timing parameter. - set:
Move servo to new position. - get:
Get current position of servo. - torque:
Set torque limit. - speed:
Set speed limit. - capture:
Start capture (continuous) of robot movement. - grab:
Start capture (discrete) of robot movement. - play:
Play motions stored in motion buffer with custom pause and interpolation type. - info:
Show status information. - hold:
Sets target position of all servos to current position. Removes servo beeping (unable to reach target position). - t:
Torque on/off. - join:
Join motions in motion buffer. - load:
Load .mtn file into motion buffer. - test:
Runs CTest::test(). - stop:
Stops all robot motion. - loop:
Calls play in a loop. - m:
Executes robot command (f.e. m walk 10). - help:
Shows help screen.
