Runtime - GarethG/ProjectRinzler GitHub Wiki

Boot both roboards wait until you can ping both on 192.168.2.10 and 20

When you see pings start up rxgraph and check that compass svp depth heading pitch pidRamp depthMod and motors are all present.

On a local machine;

rosrun halt halt rosrun pilotKeys pilot rosrun keyTest keys

Wait for them all to set up nicely on the rxgraph.

In pilot keys enter Y to start the process, then enter the desired heading, depth, pitch and speed.

Heading 0 - 359.999 Depth 0 - 30.0 Pitch -10.0 - 10.0 Speed errr I think is in the range of -20 to 20.

Basically put in the heading or depth or pitch you want the sub to achieve, and put in a speed if you want it to move.

In case of e stop type rosnode kill halt, and the motors will all drop to a 0 speed.