• Overview
  • Chassis
  • Special Modes
  • Robotic Arm
    • Dual Arm Mode Configuration
    • Single Arm Mode Configuration

Overview

This repository provides example configuration files for the Hex Controller. By using the hf-bot-cfg-cli tool, you can quickly switch the working mode of the Hex Controller.

Usage:

hf-bot-cfg-cli -c <json_path>/backend_config.json --url ws://<controller_ip>:8404

hf-bot-cfg-cli -c <json_path>/backend_config.json --url ws://<controller_ip>:9404

Chassis

• Ark
• MaverX4
• TriggerA3

Special Modes

• CanHub Mode
  • If you want to prevent automatic power output, set the "power_on" parameter in "backend_config.json" to false.

Robotic Arm

Dual Arm Mode Configuration

Enable robotic arm can0 port drive and CAN forwarding:

hf-bot-cfg-cli -c ./arm/<arm series>/backend_config.json --url ws://<ip>:8404

Enable robotic arm can1 port drive:

hf-bot-cfg-cli -c ./arm/<arm series>/backend_config2.json --url ws://<ip>:9404

Single Arm Mode Configuration

Enable robotic arm can0 port drive and CAN forwarding:

hf-bot-cfg-cli -c ./arm/<arm series>/backend_config.json --url ws://<ip>:8404

Disable robotic arm can1 port drive:

hf-bot-cfg-cli -c ./can_hub/backend_config2.json --url ws://<ip>:9404