marble tree demo documented

docs/source/clients/cssboy.rst

@@ -4,3 +4,12 @@
 ==============
 CSS BOY client
 ==============
+
+.. figure:: ../graphics/boy-control.png
+   :width: 12cm
+
+   CSS BOY control screen
+
+Basic controls of the robot axes and LED are provided
+by buttons on the CSS BOY screen.  Each action will happen
+as long as the button is held down.

docs/source/examples/marble-tree.rst

@@ -2,4 +2,130 @@
 Get the ball rolling: The Marble Tree
 =====================================
 
-.. photo essay
+The robot arm can lift small objects and move them
+under visual control.  Using a joystick and some 
+practice, the control can become intuitive.
+
+A great example of the robot would be to place a ball 
+in a maze, pick it up at the end and repeat.  With that 
+in mind, a marble tree (wooden musical instrument and 
+coffee table amusement) is ideal.  The marble tree shown 
+in the pictures was purchased in Berea, KY.
+
+Example
+-------
+
+This system uses the robot arm, a Raspberry Pi to run the IOC,
+and a joystick that runs in the IOC.  No GUI is necessary.
+It is useful to place the robot on a plinth so that it 
+can reach top of the marble tree, as well as pick up 
+the marble from the bin at the bottom.
+
+.. figure:: ../graphics/20150513_164853.jpg
+   :width: 12cm
+
+   System for marble tree example
+
+Controls
+++++++++
+
+.. figure:: ../graphics/joystick-controls.png
+   :width: 12cm
+
+   This is the joystick we will use.
+   It is right-handed and has a twist action (vertical axis).  
+   We'll use that for the base rotation.
+
+
+========  ================================================================
+button    action
+========  ================================================================
+trigger   close grip
+thumb     open grip
+twist     rotate base in same direction
+lever     turns on/off base rotation (useful when trying to grasp objects)
+joystick  shoulder axis: forward=down, back=up
+elbow     two buttons, forward and back
+wrist     knob, forward=down, back=up
+========  ================================================================
+
+The joystick buttons are described in file:
+``edgeRoboArmIOC/support/usb-1-0/usbApp/Db/LogitechExtreme3DPro.in``
+The actions are mapped to buttons in file:
+``edgeRoboArmIOC/support/xxx-5-6/xxxApp/Db/roboArm.db``
+
+Pulse the LED button to ensure the IOC is operating.
+
+Step 1
+++++++
+
+.. figure:: ../graphics/SANY0004.JPG
+   :width: 12cm
+
+   Move arm into place to pick up marble. 
+   Be sure to clear all the wooden leaves!
+
+.. figure:: ../graphics/SANY0005.JPG
+   :width: 12cm
+
+   Move arm into place to pick up marble. 
+   Be sure to clear all the wooden leaves!
+
+Step 2
+++++++
+
+.. figure:: ../graphics/SANY0007.JPG
+   :width: 12cm
+
+   Approach the ball with the grips open.
+   It may help to turn on the LED to verify alignment.
+
+.. figure:: ../graphics/SANY0008.JPG
+   :width: 12cm
+
+   It may be needed to nudge the ball to using the base
+   to pick it up with the grips. 
+
+Step 3
+++++++
+
+.. figure:: ../graphics/SANY0009.JPG
+   :width: 12cm
+
+   Grip the ball until the motor stops.
+
+Step 4
+++++++
+
+.. figure:: ../graphics/SANY0010.JPG
+   :width: 12cm
+
+   Carefully, raise the shoulder a bit, without banging the wooden leaves.
+   Don't knock the ball out of the grips.
+
+   Move back until the arm can clear all the leaves.
+
+Step 5
+++++++
+
+.. figure:: ../graphics/SANY0011.JPG
+   :width: 12cm
+
+   Raise and lengthen the arm to position the ball 
+   at the top of the marble tree.
+
+Step 6
+++++++
+
+.. figure:: ../graphics/SANY0012.JPG
+   :width: 12cm
+
+   Open the grips to release the ball.
+   Listen as the ball moves downward.
+
+
+
+-------------------
+
+.. [#] marble tree: http://www.berea.com/appalachian-fireside-gallery/
+

docs/source/examples/sequence.rst

@@ -26,6 +26,18 @@ https://vimeo.com/128020522
 Database, sequence, and GUI support are provided in this IOC project
 under the ``ip-2-13`` subdirectory.
 
+Schematic
+---------
+
+.. figure:: ../graphics/arm-IOC-LAN-OPI.png
+   :width: 8cm
+
+   schematic of automated sequence equipment
+
+The sequence is run from a SNL program on the Raspberry Pi.
+The parameters for the sequence are entered from the
+EPICS OPI client ICSS BOY GUI on the laptop).
+
 -----------
 
 .. [#] 2012 ANL Energy Showcase: