***************** hubo-ach **************** 
Support: Daniel M. Lofaro dan@danlofaro.com 
*******************************************

Run Hubo-Ach
============
(1) Setup Config (first time only or new builds and param changes)
	$ hubo-ach config
(2) Start hubo-ach daemon.  This will automatically start hubo-console as well
    CAN packets will not start to be sent
	$ hubo-ach start
(3) To stop hubo-ach daemon 
	$ hubo-ach stop
(4) To kill all hubo-ach basic processes
        $ hubo-ach killall

Install ACH
===========
First-time install,
If you have a PEAK CAN Card installed the script below will install 
Hubo-Ach and all of it's dependencies for you automatically 

Just run: 
        $ ./first-time-install-hubo-ach.sh

Or:


(1) Add this line to /etc/apt/sources.list:

    deb http://code.golems.org/debian squeeze golems.org

  (Replace squeeze with the codename for your distribution, ie lucid,
  precise, etc.)

(2) `sudo apt-get update`
(3) `sudo apt-get install libach1 libach-dev`
(4) `sudo apt-get install ach-utils`


5) If you have obtained amino from the git repo, you need to
initialize the autotools build scripts.  This requires the autotools
and the autoconf macro archive. To install these on Debian or Ubuntu
GNU/Linux, you can do

`$ sudo apt-get install autoconf automake libtool autoconf-archive'

Then, initialize autotools with

`$ autoreconf -i'

This whole step is not necessary when you have obtained a distribution
tarball which already contains the autoconf-generated configure script.

Option 1)
	$ ./hubo-ach-install.sh

Option 2)
	Configure for system:
		$ ./configure

	Build:
		$ make

	Install:
		$ sudo make install




Functionality:
==============
    Feedforward:
                - set position reference (rad)

    Feedback: 
                - get encoder position (rad)
                - get IMU x angle (rad)
                - get IMU y angle (rad)
                - get IMU Vx velos(rad/sec)
                - get IMU Vy velos(rad/sec)
                - get FT Mx moment (Nm)
                - get FT My moment (Nm)
                - get FT Fz force (N)
                - get foot angle from acc Ax (rad)
                - get foot angle from acc Ay (rad)
                - get foot G-force acc Az (G)
                - get Motor Status (flags)

    Motor Control:
                - home motors
                - reset to defaults

hubo-ach-console
================

Console input for hubo-ach

Usage:
       Home all motors and zero sensors
           >> hubo-ach: homeAll
           >> hubo-ach: iniSensors
    
Functions: "initilize XXX" - sets defaults to motor XXX and turns on FETs
           "initilizeAll"  - sets defaults to all motors and turns on all FETs
           "home XXX"      - homes motor XXX
           "homeAll"       - homes all motors that are active
           "goto XXX val"  - sets motor XXX to goto position "val" in rad.
                             uses linear interpolation via hubo-ref-filter
                             0.5 sec linear filter by default
           "get XXX"       - gets current encoder location of motor XXX
           "zero XXX"      - zero the sensor XXX
           "zeroacc"       - zero the foot accelerometer XXX
           "iniSensors"    - zero all sensors
           "ctrl XXX Y"    - turn on and off control to motor XXX.  If Y = 0 then Off, if Y = 1 then On 
                             Note: must home joint first.
           "ctrlAll Y"     - turn on and off control to all motors. If Y = 0 then Off, if Y = 1 then On 
                             Note: must home joint first.
           "reset XXX"     - Only for motors with error flags raised - no effect on motors with no errors
                             Resets motor XXX encoders and resets all flags.  Also sets reference to 0.0 rad
           "resetAll"      - Only for motors with error flags raised - no effect on motors with no errors
                             Resets all motors and encoder and resets all flags
           "status XXX"    - Gets the most recent status flags for motor XXX

Required for installation:
    sudo apt-get install libreadline-dev

For joint "goto" functionality must have hubo-ref-filter running
    Note: do not have hubo-ref-filter running when trying to write directly
          to the hubo-ref channel.
	$ sudo ./hubo-ref-filter


hubo-ach-loop
=============
demo loop that communicates with hubo ach

install Drivers for PEAK
========================
sudo apt-get install libpopt-dev
cd drivers
tar -zxvf peak-linux-driver-7.7.tar.gz
cd peak-linux-driver-7.7
make
=======





hubo-homeparams
===============
For instructions on how to save and load parameters, type 
$ hubo-homeparams
without passing in any arguments, and it will print out this set of instructions:

usage: hubo-homeparams [argument] [target file] [optional]

   arguments:
       -s or --save  : Saves the current home settings into [target file]
       -l or --load  : Loads the home settings from [target file] onto the boards
       -p or --print : Prints a table of joint settings out to the terminal

   target file: You are recommend to provide the full path of a file

   optional: Tells the -s/--save argument what format to store position data in
       raw : Position data will be stored in encoder units
       rad : Position data will be stored in radians
The important thing is that giving a flag of "-s" will save the current settings into whatever file you specify, and a flag of "-l" will load whatever file you specify.

I strongly recommend only using full paths for any target files, because I have not tested what happens when you give relative paths. I would guess that it will just fail to find the file.