Run (Robot)

Helpful commands

sudo chmod 777 /dev/ttyACM0

catkin build soccerbot

To run the robot

source ~/catkin_ws/devel/setup.bash

roslaunch soccerbot sensors.launch

Go to soccer_control/soccer_pycontrol/test/test_walk_ros.py Click play(Big green button) on test_walk_ros_local

To run firmware test

run roscore in a terminal then go to soccer_hardware/soccer_firmware_interface/test/test_firmware_interface.py and select a button

To run a trajectory or wave

Run the robot Go to soccer_control/soccer_trajectories/test/test_trajectory.py Run test_traj_ros fix_angle_test is currently a wave if the arms arent plugged in then go to soccer_hardware/soccer_firmware/Core/Src/main.c and find the uart port and corresponding motor numbers