Instructions for startup/shutdown of the Mimic Program/Model for demonstration

Startup

1. Mimic assemble!

2. Connect the USB Cables + switch power on

The circled USB cables are the Arduino data cable which transmit the data from the Pi to the Arduinos telling them what angles to turn the motors to, plus cables to provide power to Pi and to the TRRJs. Once data cables are connected to the Pi, all of the SARJs and BGAs should automatically move 30 degrees (if they don't something is probably wrong/not connected/not receiving power).

3. Start the Mimic Graphical User Interface (GUI)

Once the Pi turns on, connect the wifi (can touch the upper right corner wifi icon, if travelling it is usually best to tether the wifi to a cell phone - not much data usage).

Once the Pi is connected to the internet, open a terminal by clicking the terminal icon or pressing Ctrl+Alt+T

When the terminal window opens, set the clock to the current time (not strictly necessary, but some stuff won't work if not set) using the following command:

sudo rdate time.nist.gov

The current date/time should be echoed back, if not keep trying until it goes through (or just give up).

Then navigate to the Mimic Project Folder and launch the Mimic GUI!

cd Mimic/Pi/

python3 GUI.py

4. Running Mimic

First step is "Zeroing" the model. Upon startup the Arduinos don't know what angle is the zero point, so we have to tell them. Press the CONTROL button on the touchscreen. This will bring up the manual control screen which allows you to individually control every motor.

One by one, click on the touchscreen button that represents the joint you are trying to move. Once highlighted, use the controls in the top right to move the physical model until it is close to the "zero" point. It is recommended to use the +/- 90 buttons at first and then fine tune with the 20 and 5 degree controls.

The desired configuration should be all PVRs facing straight down and all Solar Arrays with the blue side facing toward the middle (see picture below):

The TRRJs use servos which have a sensor that tells them what angle they are at so they don't need to be zeroed. Now that the model is calibrated you can use it freely! Now press the back button (bottom right) to return to the Main Screen and then to either the SIMULATE ORBIT or MIMIC screens

Simulate Orbit

This screen contains the recorded data that is played back at a faster speed for more interesting visualization of the ISS articulating joint motion. You can press the START button on either the HTV or Standard orbit sections (the HTV orbit is played back at 60x normal speed and is out go-to demo mode). Once the demos are completed the joints should return to zero automatically (or to stop the demo early press the STOP buttons - you might need to press both STOP buttons for some reason). Also can press the Disco! button for the fun disco mode although things might break.

It should not be required to re-calibrate after these steps although sometimes some of the joints lose some of their accuracy after some demo orbits.

Mimic

This is the telemetry system screen, where all of the live data is retrieved. From this screen, press the Start Telem button which will fire off a subprocess to start a separate program which connects to the lightstreamer server and populates the telemetry database (this may take a couple of seconds - pay attention to the signal icon in the bottom left). If the Arduinos are properly connected there should be a number (3) over the Arduino icon next to the signal icon. If the Arduinos are properly connected, the Transmit button will be available to press. Pressing it begins sending the incoming telemetry to each of the Arduinos at a 1Hz frequency. It does not matter if you start the telemetry or transmit first (I prefer to make sure the telemetry is working first though).

The most finished screens are: EPS, GNC, Orbit, C&T, and the US EVA screen. The MT screen has some info too.

Pressing the back button from the Mimic screen will stop the telemetry and transmission (same process to restart if returning to the Mimic screen.) but moving within the Mimic screen won't affect the telemetry/transmission.

Shutdown

1. Exit Mimic by pressing the back button until you reach the Main Screen and then press EXIT
2. Press the Pi menu button (top left) and select "Shutdown..." and then "Shutdown" again
3. Disconnect the Raspberry Pi power USB C cable
4. Disconnect the USB cable from the Pi
5. Press all buttons (4) on USB hub to turn off
6. Turn rocker power switch to off