Husky a300 AMP and Observer

README.md

@@ -210,10 +210,12 @@ includeCurrentVersion: false,
 
 ## How should I write pages?
 
-1.  Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax
-2.  Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features
-3.  For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file
-4.  for advanced users, you may create React pages using _.js_ or _.ts_ file types
+1.  Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax.
+    Comments should be added using a `[//]: <>` start to a line.
+    HTML commenting—`<!-- -->`—causes issues with the MDX extension in VS Code.
+2.  Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features.
+3.  For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file.
+4.  for advanced users, you may create React pages using _.js_ or _.ts_ file types.
 
 ## How should I name files?
 
@@ -251,6 +253,23 @@ This helps Users know where they downloaded the file from later, as the asset is
 
     In an `img/` folder next to the markdown files where it will be used.
 
+6.  Files larger than 100 MB
+
+    Files added to GitHub must be smaller than 100 MB—_(at time of writing in 2025-04)_.
+    You will be able to commit a large file locally, but the push to GitHub will fail.
+    We are storing large files in an Amazon S3 Bucket, rather than the cpr-documentation repository's `/static/assets` directory.
+    Note that this means large files will need to be added by Clearpath Robotics staff, as we do not provide public access to this S3 Bucket.
+
+    To add a file:
+
+    * Sign into https://us-east-2.console.aws.amazon.com/s3/ .
+    * Navigate to the S3 Bucket `cpr-documentation-large-files `.
+    * Select the `Upload` button, and choose your local file.
+    * After the file has been uploaded, click on the new object, and copy its `Object URL`.
+      This is the public URL to access the file you uploaded.
+      Note that this S3 Bucket is configured so all files' permissions are automatically set to public access.
+
+
 ## How to merge branches into the Production branch?
 
 The website is built and deployed using AWS Amplify.

components/common_in_case_of_collision.mdx

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+### In Case Of A Collision
+
+Your commissioning and operations teams should develop procedures for how to deal with incidents, like a robot hitting a person.
+
+:::tip Procedure At Clearpath Robotics's Facility
+
+1.  Stop the robot by pressing a red Emergency Stop button on the robot or an equipped attachment.
+2.  Is anyone hurt?
+    Administer first aid immediately.
+    Seek medical attention if necessary.
+3.  Document the incident.
+    1.  Follow workplace injury and accident reporting procedures.
+    2.  Note the time and place.
+    3.  Note which robot was involved.
+    4.  Interview any witnesses.
+    5.  Take photos or make a drawing.
+4.  Assess the state of the robot.
+    1.  Visually inspect the robot for damage and take photos of any damage found.
+    2.  If there is no visible damage, observe the robot after it returns to service.
+    3.  If any irregularities or differences in its behavior are observed, remove the affected robot from service.
+
+:::

components/common_lighting_states_estop_reset_operational.mdx

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+<div class="table-container-for-centering">
+  <div class="centred-table">
+    | Lighting State                       | Lighting Pattern                                                                         |
+    | :----------------------------------- | :--------------------------------------------------------------------------------------: |
+    | Emergency Stop                       | <img src="/img/robot_images/common_images/lighting_images/stopped.gif" width="100"/>     |
+    | Needs Reset _(after Emergency Stop)_ | <img src="/img/robot_images/common_images/lighting_images/needs_reset.gif" width="100"/> |
+    | Operational _(Driving or Idle)_      | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/>     |
+  </div>
+</div>

components/common_risk_assessment_for_integrations.mdx

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+:::safety-danger
+
+**Always perform a risk assessment prior to any custom integrations.**
+
+Custom integrations are outside the scope of the robot's safety assessment, as custom integrations may result in new hazards.
+
+:::
+
+<br />

components/common_software_integration.mdx

@@ -1,5 +1,15 @@
+{(props.headingSize == 2) && <h2>Software Integration</h2>}
+{(props.headingSize == 3) && <h3>Software Integration</h3>}
+
 ROS has a large ecosystem of sensor drivers, some of which include pre-made URDF descriptions and
 even simulation configurations. Refer to [Sensors supported by ROS](http://wiki.ros.org/Sensors).
 
 For the best experience, consider purchasing supported accessories from Clearpath Robotics for your
 robot, which will include simulation, visualization, and driver support.
+
+Refer to the following for more details:
+
+- [Computers](/docs_robots/accessories/computers)
+- [Sensors](/docs_robots/accessories/sensors)
+- [Manipulators](/docs_robots/accessories/manipulators)
+- [Accessories](/docs_robots/accessories/add-ons)

components/common_who_can_maintain_the_robot.mdx

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+:::safety-danger
+
+Maintaining robots can be dangerous.
+There are hazards from high energy batteries, sharp edges, joints that can shear, and heavy items that can crush.
+The robot is intended to be maintained by a technician that is familiar with safe work procedures, and has experience using the required tools.
+
+Technicians must read and understand this manual.
+
+Technicians must review and understand their worksite's Risk Assessment and required procedures.
+
+Contact our [Support Team](#support) if you have any questions.
+
+:::

components/common_wireless_emergency_stop_charging.mdx

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+### Charging The Wireless Emergency Stop Transmitter
+
+This transmitter is part of the _Wireless Emergency Stop_ upgrade kit for Husky.
+
+1.  Remove the battery from the _Wireless Emergency Stop Transmitter_.
+2.  Connect the charger's AC cable to an outlet at your worksite.
+3.  Connect the transmitter's battery to the charger.
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/common_images/wireless_emergency_stop_charger_empty.png"
+      width="350"
+    />
+    <img
+      src="/img/robot_images/common_images/wireless_emergency_stop_charger_charging.png"
+      width="350"
+    />
+    <figcaption>Wirelesss Emergency Stop Transmitter's Charger</figcaption>
+  </figure>
+</center>
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_1.png"
+      width="350"
+    />
+    <img
+      src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_2.png"
+      width="350"
+    />
+    <figcaption>Removing the Wirelesss Emergency Stop Transmitter's Battery</figcaption>
+  </figure>
+</center>
+
+:::info
+
+The robot's spare parts kit included a second battery for the transmitter.
+
+:::

components/common_wireless_joystick_ps4.mdx

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+### Connecting And Using The Wireless Joystick {#controller}
+
+Your robot included a PS4 wireless joystick.
+Clearpath's robot builders paired this wireless joystick with your robot computer's Bluetooth.
+This means the joystick should always connect to that robot, even if there are other robots nearby.
+
+To connect the joystick to your robot:
+
+1.  Turn on the robot, and wait till the status lights show that ROS is running.
+2.  Have the controller within 5 metres of the robot.
+3.  Press the _PS_ button in the centre of the joystick.
+4.  The joystick's top LED should start pulsing white or blue.
+    This means the joystick is attempting to connect.
+5.  The joysick's top LED should eventually become solid blue, indicating that it has connected to the robot's computer.
+
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/common_images/wireless_joystick_ps4.png"
+      width="400"
+    />
+    <figcaption>PS4 Wireless Joystick</figcaption>
+  </figure>
+</center>
+
+:::danger Failing To Connect
+
+The _Wireless Joystick_ is not connected if its LED does not become solid blue.
+Follow the instructions in the [Joystick Controller Pairing](/docs/ros/installation/controller) section to pair the joystick to your robot's primary computer.
+
+:::
+
+:::info Driving The Robot
+
+1.  Make sure your worksite is ready to drive the robot, and that the robot will not create hazards for people, animals, or your infrastructure.
+2.  Make sure the robot's status lights show that it is ready to drive.
+3.  Make sure the _Wireless Joystick_ is connected to the robot.
+4.  Hold the joystick's _L1 button_ for slow driving.
+    _(You can use the R1 button for fast driving once you are comfortable with the robot's dynamics.)_
+5.  Use the left joystick to drive the robot.
+    Pushing the joystick forward and backward will command the robot ±X.
+    Angling the joystick left and right will command the robot to rotate ±Z.
+
+:::

components/common_wireless_joystick_ps4_charging.mdx

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+### Charging The Wireless Joystick
+
+There is a micro-USB port on the top of the PS4 controller—near its LED.
+A USB cable was included in your robot's spare parts kit.
+Connect the controller to a computer, USB hub, or other 5 V USB charger.
+The controller's LED should glow yellow when it starts charging.
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/common_images/wireless_joystick_charging_ps4.png"
+      width="600"
+    />
+  </figure>
+</center>
+
+:::info
+
+The _Wireless Joystick_ will not send driving commands to the robot while the joystick is charging.
+
+:::

components/husky_a300/husky_a300_additional_emergency_stop_devices.mdx

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+import Admonition from "@theme/Admonition";
+
+### Additional Emergency Stop Devices {#husky_external_stop}
+
+[//]: <> (TODO, add image of the 8 ES positions on the System Interface circuit board)
+
+The base Husky A300 includes 2 Emergency Stop Buttons, which are connected to the System Interface circuit board.
+The System Interface circuit board also includes connector breakouts for 6 more Emergency Stop devices, labelled ES3 through ES8.
+The standard Husky A300 has a bypass jumper inserted into each of these unused Emergency Stop breakouts.
+
+[//]: <> (TODO, add image of a bypass jumper)
+
+You can use these Emergency Stop breakouts to add more Emergency Stop devices, such as:
+
+- Emergency Stop buttons
+- Safety lidar
+- Tape switches
+- Limit switches
+- Relays or similar PLC components
+- Manipulator control cabinets
+
+{((props.robotModel == "AMP") || (props.robotModel == "Observer")) && <Admonition type="info">
+  The Husky AMP and Husky Observer use 2 of these additional breakouts to connect more Emergency Stop buttons.
+  We discard 2 of the bypass jumpers, and then connect the new Emergency Stop buttons to the System Interface circuit board.
+</Admonition>}
+
+<Admonition type="note" icon= " " title="Pinout for ES3 - ES8">
+
+  | ES Pin | Function / Value                                                                                     |
+  | :----- | :--------------------------------------------------------------------------------------------------- |
+  | 1      | Channel 1 Out, _(24 V)_: normally connected to Channel 1 In; disconnect to trigger an emergency stop |
+  | 2      | Channel 1 In                                                                                         |
+  | 3      | Channel 2 Out _(24 V)_: normally connected to Channel 2 In; disconnect to trigger an emergency stop  |
+  | 4      | Channel 2 In                                                                                         |
+
+</Admonition>

components/husky_a300/husky_a300_air_filter.mdx

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+### Air Filter
+
+Husky includes four 80 X 80 mm fans to cool the internal electronics.
+The air passes through the Husky's _Front Grille_, then through the _Air Filter_, before reaching the fans.
+
+:::note
+
+After cooling the electronics, the air is exhausted through the Husky's _Rear Grille_.
+
+:::
+
+<details>
+  <summary>To clean or replace the _Air Filter_:</summary>
+
+  <ol>
+    <li>
+      Remove the _Front Cover_, as described in the section <a href="#removing-the-front-cover">Removing The Front Cover</a>
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_front_cover_4.png"
+            width="700"
+          />
+        </figure>
+      </center>
+    </li>
+    <li>
+      Grab the centre of the filter, and pull the filter out of the robot.
+      There is a notch in the metal bracket to give you access.
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_air_filter_2.png"
+            width="700"
+          />
+        </figure>
+      </center>
+    </li>
+    <li>
+      Clean the filter with water.
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_air_filter_3.png"
+            width="700"
+          />
+        </figure>
+      </center>
+    </li>
+    <li>
+      Return the filter when dry, or replace it with a new filter.
+      The filter should be flush with the bare metal bracket.
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_air_filter_1.png"
+            width="700"
+          />
+        </figure>
+      </center>
+    </li>
+  </ol>
+</details>

components/husky_a300/husky_a300_air_grilles.mdx

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+### Air Grilles
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/husky_a300_images/husky_a300_air_grille_1.png"
+      width="600"
+    />
+    <figcaption>Husky's Front Air Grille, Behind The Bumper</figcaption>
+  </figure>
+</center>
+
+The front and rear _Air Grilles_ prevent large debris from entering the robot.
+
+<details>
+  <summary>To remove the grilles</summary>
+  1.  Remove the _Bumpers_.
+  2.  Remove the _Front Cover_ and _Rear Cover_.
+  3.  Remove 2 screws per grille.
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_air_grille_2.png"
+            width="600"
+          />
+        </figure>
+      </center>
+  4.  Remove the grilles.
+      <center>
+        <figure>
+          <img
+            src="/img/robot_images/husky_a300_images/husky_a300_air_grille_3.png"
+            width="600"
+          />
+        </figure>
+      </center>
+
+  :::note
+
+  When reinstalling the grilles:
+
+  * Make sure to include the thin mesh filter on the _Rear Air Grille_
+  * Torque the screws to 2 N·m.
+
+  :::
+
+</details>

components/husky_a300/husky_a300_amp_aluminum_extrusions.mdx

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+### AMP's Aluminum Extrusions {#aluminum-extrusions}
+
+There are two aluminum extrusions on the top of the Husky AMP's enclosure.
+The centre of these extrusions are spaced 340 mm apart.
+The extrusions accept Misumi 5 Series T-slot Nuts.
+These are intended as an interface for light components, since the rails are attached with six M3×0.5 screws.
+
+Here are some of the Misumi T-slot fasteners we use:
+
+| Clearpath Item | Misumi Item  | Description                             |
+| :------------- | :----------- | :-------------------------------------- |
+| 021464         | HNTASN5-5    | M5×0.8 nut, without retention           |
+| 028825         | SHNTP5-5     | M5×0.8 nut, with ball plunger retention |
+| 026955         | SHNTAP5-5    | M5×0.8 nut, with leaf spring retention  |
+| 001018         | HATLSN5-4-12 | M5×0.8 stud, without retention          |
+
+<center>
+  <figure>
+    <img
+      src="/img/robot_images/husky_a300_images/husky_a300_amp_t_slot_fasteners.png"
+      width="500"
+    />
+    <figcaption>T-slot fasteners, in the same order as the table above.</figcaption>
+  </figure>
+</center>