From atanas@cs.columbia.edu Wed Apr 10 13:38:04 2002
Date: Sat, 9 Mar 2002 05:54:44 -0500 (EST)
From: Atanas Georgiev <atanas@cs.columbia.edu>
To: Paul Oh <paul@cs.columbia.edu>
Subject: Re: Gantry demo

OK, Paul,

These are the changes that I think should be made to the
people tracking manual.  Don't feel obliged to do anything
about them now.  I just wanted to put them in one place and
make sure that we both have them...

I actually have two versions of the manual, both dated
07/19/2000 but somewhat different.  I guess one of them
is newer... But anyway...

>>>1<<< Section 2.1.1. Rebooting:

The manual refers to at6400.exe but it doesn't say in which
directory.  It also refers to c:\poh\setup\fastterm.exe.

The correct directory for both programs is c:\at6400.  Also,
note that fastterm is a COM program not EXE.

>>>2<<< Section 2.1.1. Rebooting:

The correct commands after psetup:
  ls  0,0,0
  lh  0,0,0
  jog 1,1,1

>>>3<<< Section 2.1.2. Re-homing the Gantry

Addition: Before issuing the homing command, you need to make
sure that the gantry is at least 1 meter (3 feet) to the South-East
of the North-West corner.

Correction:  The command is hom 0,1,1

Otherwise weird things happen, e.g the gantry starts moving in
the wrong direction.

>>>4<<< Section 2.1.2. Re-homing the Gantry

Typo:  homme2 should be homeme2

Additions: Type 'ls 0,0,0' and 'lh 0,0,0' after homeme2

Addition: Do homeme2 only once.  If you try to repeat, the gantry
will move relative to the current position, i.e. you'll be very
sorry if you don't stop it on time.

>>>5<<< Section 2.2. Step Two: PTU Orientation

Addition: after you type 'c' to connect to the PTU, type
'ps1000' and 'ts1000' if you want it to move faster.

Addition: if pp-1750 does not position it where it is supposed to
be, use 'r' to reset.

>>>6<<< Section 2.4. Step 4: Executing Hybrid5_1

You need to make sure that LD_LIBRARY_PATH contains both
/usr/lib and /usr/ucblib

>>>7<<< General note

When the gatry hits a limit it won't move in any direction
until an unknown chain of events happen that will let it
free (I've had this happening to me).

>>>8<<< A program for keyboard control of the gantry

A very useful test program.  Located in c:\atanas\manual.
It is called manual.exe.  All sources are in the same
directory.

When you run it, you can control the gantry (only in 2D:
X and Y) using the following keys:
 'i' moves EAST
 'k' moves WEST
 'j' moves NORTH
 'l' moves SOUTH
Pressing each of these keys increases the velocity in the
corresponding direction by 100 up to a certain limit.
Any other key stops the gantry immediately.  To exit, hit
escape.

>>>9<<< Another useful debug program

is in c:\atanas\gmove\gmove along with all the sources.

It is the same as gmove2_3 except that it shows on the
screen the initialization string and each command sent
to it.  Very useful if you debug Hybrid, as you can
imagine.

---

That's all I have.  Let me know when you get some free time
to incorporate these into the manual.

--
Atanas