Demo: Origami modular robot#
The following steps are meant to be launched on the RPI#
Throughout this section, the required steps to run the Space Navigator demo of the soft neck are described.
- Plug the spnav dongle the PC.
- Plug the PCAN-USB adapter to the PC.
- On a terminal, run the following command for setting up the CAN bus port:
cd ~/Desktop && sudo ./init_can.sh
ip link set can0 up txqueuelen 1000 type can bitrate 1000000 restart-ms 100
- On a terminal, launch yarpserver through the following command:
yarpserver --write
yarp rpc /softneck/rpc:i
You can tighten and untighten the tendons with the set pos command, which gives a distance(m) value for the motor to rotate. It is suggested to use increments or decrements of 0.01 as a starting value.
set pos 0 0.01
This will shorten the first tendon a length of 0.01m. The ID associated to each motor is shown in the following figure.