ELISSA Wiki
Begin Operations
To run the operations in the laboratory some major steps must be followed. This pages describes the necessary steps.
Table of Content:
Other useful pages:
Launch Scenarios, End Operations
Preparation
- Open at least two windows in the laboratory
- Turn the LAN switch in the control room on
- Start the windows and the linux computer
- Activate the blowers in the basement
- Open a window in the blower room as well
Run the Software
- Launch the calibrated MotiveTracker software (on the windows computer)
- Calibrate MotiveTracker using the existing manual
- Open Calibration File, than click “View” and than “Assets”
- Activate the blower control
- Open Inverter twice, once for each half of the table
- Click “Steuerung”
- Set “Digitaleingang” to 1 and “Sollwert” to 60Hz
- COM5: Left side of the table
- COM3: Right side of the table
Freeflyer
- Hamilcar Class
- Check the battery charge (all > 7.6V)
- Installing and connecting the battery (Attention: Motors may be active now)
- Hannibal Class
- Check the battery charge (all > 27V)
- Make sure the display is facing you and the red cable is on the right
- Installing and connecting the battery
- Activate the freeflyer (Attention: Motors may be active now)
- Activate the flight computer
- Check the battery charge (all > 27V)
- Place the freeflyer on a glass plate on the table
- If necessary, add the freeflyer in the MotiveTracker software
- Select the four markers (in square layout) on top of the freeflyer
- Create a rigid body
- Name the rigid body like vrpn/hannibal
- Select the other markers and add them to the rigid body
Operation
- Launch the wanted roslaunch file
- Activate the necessary blowers
- Click “An/Aus” to activate blower
Appendix
Settings for the Blower Control
tbd
Activate Hannibal Class Freeflyers
- Make sure the freeflyer is placed in the middle of the glass plate
- Activate PCDU
- Activate on board computer by holding the innermost red button for one second
- If necessary activate robot arm