Project description#

← Tutorial Library · AlohaMini Hardware and Operation

Please confirm the applicable models based on the hardware configuration on this page.

View all motor states#

python examples/debug/motors.py get_motors_states \
  --port /dev/ttyACM0

Control the mobile base only#

python examples/debug/wheels.py \
   --port /dev/ttyACM0

Control the lift axis only#

python examples/debug/axis.py \
   --port /dev/ttyACM0

Rotate a specific motor by ID#

python examples/debug/motors.py move_motor_to_position \
  --id 1 \
  --position 2 \
  --port /dev/ttyACM0

Set a new motor ID#

python examples/debug/motors.py configure_motor_id \
  --id 1 \
  --set_id 8 \
  --port /dev/ttyACM0

Set the phase of a specified servo#

python examples/debug/motors.py configure_motor_phase \
  --id 1 \
  --set_phase 12 \
  --port /dev/ttyACM0

Set the phase for all servos#

python examples/debug/motors.py configure_motor_phase \
  --set_phase 12 \
  --port /dev/ttyACM0

Reset current position as the motor midpoint#

python examples/debug/motors.py reset_motors_to_midpoint \
  --port /dev/ttyACM1

Disable torque for all arm motors#

python examples/debug/motors.py reset_motors_torque  \
  --port /dev/ttyACM0

Execute an action script on the robot arm#

python examples/debug/motors.py move_motors_by_script \
   --script_path action_scripts/test_dance.txt  \
   --port /dev/ttyACM0