Very short test for hubo responsiveness
First, download and compile the code:
git clone https://github.com/swatbotics/hubo-sine-test.git
cd hubo-sine-test
make
It should produce a single binary named hubo-sine-test.
Turn on the robot motors. Start the hubo daemon using
hubo-ach start drc
The console will appear. Verify that the robot is free from obstruction and type
homeAll
to home the motors. Now press Ctrl+C to leave the hubo-ach console. Next, with the robot still suspended above the ground, run the command
sudo ./hubo-sine-test LHP
It will run the left hip pitch motor with a sinusoidal pattern for 8
seconds and write a log file named sine_test_LAP_0000.txt, After it
finishes, run the command
sudo ./hubo-sine-test LSP
to do the same thing with the left shoulder pitch joint. Now we want to run the program again, after initializing sensors. Type
hubo-ach console
to bring up the console again, and enter the command
iniSensors
to zero all of the senors. Exit the console by pressing Ctrl+C. Now run the two sine test commands from before:
sudo ./hubo-sine-test LHP
sudo ./hubo-sine-test LSP
At the end of the four commands, you will have four log files:
sine_test_LHP_0000.txt
sine_test_LSP_0000.txt
sine_test_LHP_0001.txt
sine_test_LSP_0001.txt
Now you may stop the hubo daemon:
hubo-ach stop
and turn off the motors afterwards.