diff --git a/components/husky_a300_charging_the_robot.mdx b/components/husky_a300_charging_the_robot.mdx index 8f5263112..03583993a 100644 --- a/components/husky_a300_charging_the_robot.mdx +++ b/components/husky_a300_charging_the_robot.mdx @@ -1,4 +1,4 @@ -### Charging The Robot +### Charging The Robot {#charging-the-robot} The robot can be on or off while charging. To charge the Husky: @@ -31,7 +31,7 @@ The _Manual Charger_ has a light on it which confirms the robot's batteries are | :------------------------------ | :-----------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------: | | Standard Charger, North America | | | | Standard Charger, Europe | | | -| Upgradeed Charger | | | +| Upgraded Charger | | | ::: diff --git a/components/husky_a300_clearing_emergency_stop.mdx b/components/husky_a300_clearing_emergency_stop.mdx index 8575da100..e55029edc 100644 --- a/components/husky_a300_clearing_emergency_stop.mdx +++ b/components/husky_a300_clearing_emergency_stop.mdx @@ -29,7 +29,7 @@ The Husky's status lights show these light patterns for different Emergency Stop After clearing the Emergency Stop, the Husky's status lights should change to the _Needs Reset_ state's pattern. This state is common for machinery safety; as it waits for the machine operator to confirm that the machine should continue normal operations. -#### To Clear The Needs Reset State: +#### To Clear The Needs Reset State: {#clear-needs-reset} 1. Press the _Emergency Stop Restart Button_ on at the back of the Husky. 2. Or, if included, connect your Wireless Emergency Stop remote. diff --git a/components/husky_a300_safety_system_functionality.mdx b/components/husky_a300_safety_system_functionality.mdx index 6c315064a..b7561800e 100644 --- a/components/husky_a300_safety_system_functionality.mdx +++ b/components/husky_a300_safety_system_functionality.mdx @@ -1,4 +1,4 @@ -### Safety System Functionality +### Safety System Functionality {#a300-safety} Husky A300 is equipped with 3 safety functions to reduce the system risk: diff --git a/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx b/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx index ca78b7d07..4d5878177 100644 --- a/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx +++ b/docs_robots/solutions/husky_a300_amp/husky_a300_amp.mdx @@ -66,6 +66,35 @@ import ComponentSafetySystemFunctionality from "/components/husky_a300_safety_sy +## Quick Start Checklist {#quick-start} + +1. Review the [important safety notes](#a300-safety). +1. [Remove Husky AMP from its shipping crate](#unboxing-a300). +1. [Turn on the circuit breaker](#turning-the-circuit-breaker-on) and + [turn the robot on](#turning-the-robot-on). +1. [Clear any stop conditions](#clearing-an-emergency-stop) and [press the Safety Restart Button](#clear-needs-reset). +1. Check the status lights and confirm that the robot is in the idle state. (TODO: link to User Manual) +1. [Connect the joystick and drive the robot](#controller). +1. Connect your laptop to the robot's wifi network. (TODO: create new section + add link) + SSID: cpr_a300_XXXXX_radio; password: clearpath + Alternatively, [set up a wired Ethernet connection](../../outdoor_robots/husky/a300/user_manual_husky.mdx#ethernet-connection) + to the Husky A300 debug port. +1. [Confirm that all sensors are operational](#checking-sensors). +1. Confirm that OutdoorNav software is launching correctly (TODO: add links to the OutdoorNav User Manual for each of the items below) + 1. Connect to Web UI + 1. Check camera feeds (links to OutdoorNav Web UI Overview) + 1. Check GPS RTK Fix (Observer only?) (links to OutdoorNav ???) + 1. Check that there are no errors on the status page? (links to OutdoorNav ???) + 1. Complete system configuration (links to OutdoorNav Getting Started) + 1. Loading Map Tiles + 1. Set Dock Location (Dock only) + 1. Create your first map (links to OutdoorNav Web UI Map Mode) + 1. Create your first mission (links to OutdoorNav Web UI Map Mode) + 1. Execute your first mission (links to OutdoorNav Web UI Map Mode) +1. When the battery gets low, as seen on the rear display or based on the status lights, + [connect the charger](#charging-the-robot). If your robot is equipped with an optional + wireless charger, you may dock the robot at the wireless charger instead (TODO: link). + ## Introduction ### About @@ -112,6 +141,31 @@ This additional work will come preinstalled on your robot. + +### Checking Sensors {#checking-sensors} + +After establishing a wifi or wired connection to the robot, use SSH to connect to robot's +computer and `ping` the various sensors to confirm that they are operational. + +For example, to confirm that the front teleop camera is working: + +``` +$ ping 19.168.131.15 +...TODO: response +``` + +The full sensor list is outlined below. + +| Sensor | IP Address | +| :----- | :--------- | +| Front teleop camera | 192.168.131.15 | +| Rear teleop camera | 192.168.131.16 | +| GPS/Vision | 192.168.131.35 | +| Front 3D lidar | 192.168.131.25 | +| Side 2D docking lidar (optional) | 192.168.131.20 | +| Top 3D lidar (optional) | 192.168.131.TODO | +| Pan-tilt-zoom camera (optional) | 192.168.131.TODO | + ## Operating The Robot {#operating-the-robot}