getting there but still work to do on the calibration instructions

book/opmanual_duckiebot/atoms_17_operation_manual_duckiebot/2_2_1_wheel_calibration.md

@@ -1,6 +1,6 @@
 # Wheel calibration {#wheel-calibration status=ready}
 
-Assigned: Andrea Daniele
+Assigned: Jacopo Tani
 
 <div class='requirements' markdown='1'>
 
@@ -11,46 +11,10 @@ when you command it to. Set the maximum speed of the Duckiebot.
 
 </div>
 
-TODO: Jacopo Tani - separate theory from demo instructions
-
-## Introduction
-
-The motors used on the Duckiebots are called "Voltage-controlled motors".
-
-This means that the velocity of each motor is directly proportional to the voltage it is subject to. Even though we use the same model of motor for left and right wheel, they are not exactly the same. In particular, every motor responds to a given voltage signal in a slightly different way. Similarly, the wheels that we are using look "identical", but they might be slightly different.
-
-If you drive the Duckiebot around using the joystick, you might notice that it doesn’t really go in a straight line when you command it to. This is due to those small differences between the motors and the wheels explained above.
-
-Different motors can cause the left wheel and right wheel to travel at different speed even though the motors received the same command signal. Similarly, different wheels travel different distances even though the motors made the same rotation.
-
 Comment: It might be helpful to talk about the ROS Parameter Server here, or at least
 reference another page. -AD
 
-
-## What is the Calibration step?
-
-We can counter this behavior by *calibrating* the wheels. A calibrated Duckiebot
-sends two different signals to left and right motor such that the robot moves in
-a straight line when you command it to.
-
-The relationship between linear and angular velocity of the robot and the velocities
-of left and right motors are:
-
-$$
-\begin{align*}
-    v_{\text{right}} &= (g + r) \cdot (v + \dfrac{1}{2} \omega l ) \\
-    v_{\text{left}} &= (g - r) \cdot (v - \dfrac{1}{2} \omega l )
-\end{align*}
-$$
-
-where $v_{\text{right}}$ and $V_{\text{left}}$ are the velocities of the two motors, $g$ is called *gain*, $r$ is called *trim*, $v$ and $\omega$ are the desired linear and the angular velocity of the robot, and $l$ is the distance between the two
-wheels. The gain parameter $g$ controls the maximum speed of the robot.
-
-With $g > 1.0$, the vehicle goes faster given the same velocity command, and for $g < 1.0$ it goes slower. The trim parameter $r$ controls the balance between the two motors.
-
-With $r > 0$, the right wheel will turn slightly more than the left wheel given the same velocity command; with $r < 0$, the left wheel will turn slightly more the right wheel.
-
-TODO for Jacopo Tani: It might be helpful to add the differential equations that relate velocities and voltages of the motors. -AD
+For the theoretical treatment of the odometry calibration see [](+learning_materials#odometry_calibration)
 
 
 ## Perform the Calibration

book/opmanual_duckiebot/atoms_17_operation_manual_duckiebot/2_2_2_camera_calibration.md

@@ -15,10 +15,8 @@ Results: Calibration for the robot camera.
 
 ### Setup
 
-Download and print a PDF of the calibration checkerboard 
-
-TODO:link to checkerboard pattern
-
+Download and print a PDF of the calibration checkerboard
+([A4 intrinsic](github:org=duckietown,repo=duckiefleet,path=calibrations/Calibration_pattern_A4_intrinsic.pdf), [A3 extrinsic](github:org=duckietown,repo=duckiefleet,path=calibrations/calibration_pattern_A3.pdf), [US Letter](github:org=duckietown,repo=Software,branch=master17,path=duckietown/config/baseline/calibration/camera_intrinsic/calibration_pattern.pdf)).
 Fix the checkerboard to a planar surface.
 
 <div figure-id="fig:calibration_checkerboard" figure-caption="">
@@ -27,26 +25,36 @@ Fix the checkerboard to a planar surface.
 
 Note: the squares must have side equal to 0.031 m = 3.1 cm.
 
+Download and print a PDF of the calibration checkerboard 
+
+Fix the checkerboard to a planar surface.
+
 ### Calibration
 
 Make sure your Duckiebot is on, and both your laptop and Duckiebot are connected to the duckietown network.
 
-#### Step 1
+#### Docker
+
+On your laptop run 
+
+```
+laptop $ dts update (if necessary)
+laptop $ dts install calibrate_duckiebot (if necessary)
+laptop $ dts calibrate_duckiebot ![DUCKIEBOT_NAME]
+```
+
 
-Open two terminals on the laptop.
 
-#### Step 2
+#### ROS
 
-In the first terminal, log in into your robot using SSH and launch the camera process:
+Open two terminals on the laptop. In the first terminal, log in into your robot using SSH and launch the camera process:
 
 ```
 duckiebot $ cd ![duckietown root]
 duckiebot $ source environment.sh
 duckiebot $ roslaunch duckietown camera.launch veh:=![robot name] raw:=true
 ```
 
-#### Step 3
-
 In the second laptop terminal run the camera calibration:
 
 ```
@@ -56,7 +64,9 @@ laptop $ source set_ros_master.sh ![robot name]
 laptop $ roslaunch duckietown intrinsic_calibration.launch veh:=![robot name]
 ```
 
-You should see a display screen open on the laptop ([](#fig:intrinsic_callibration_pre)).
+
+
+Whether you did the Docker way or the ROS way you should see a display screen open on the laptop ([](#fig:intrinsic_callibration_pre)).
 
 <div figure-id="fig:intrinsic_callibration_pre" figure-caption="">
      <img src="intrinsic_callibration_pre.png" style='width: 30em'/>
@@ -102,10 +112,12 @@ If you are satisfied with the calibration, you can save the results by pressing
 This will automatically save the calibration results on your Duckiebot:
 
 ```
-![duckiefleet root]/calibrations/camera_intrinsic/![robot name].yaml
+/data/calibrations/camera_intrinsic/![robot name].yaml
 ```
 
-#### 
+
+
+
 
 ## Extrinsic Camera Calibration {#extrinsic-camera-calibration}
 

book/opmanual_duckiebot/atoms_17_operation_manual_duckiebot/3_0_0_take_a_log.md

@@ -1,4 +1,4 @@
-# `DB17`: Taking and verifying a log {#take-a-log status=outdated}
+# Taking and verifying a log {#take-a-log status=outdated}
 
 <div class='requirements' markdown='1'>