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Minirobot User Guide
1 Introduction to Minirobot
Minirobot is an application that controls the MyArm robotic arm by combining the 3 buttons of the robotic arm base with the on-screen display. Its functions include communication forwarding, zero calibration, status information), which is convenient for the operator to interact with the elephant robot and use the elephant robot correctly.
Applicable Equipment:
-MyArm C650
The product comes with all firmware pre-installed upon leaving the factory,there is no need to download them again. If you need to re-download or update, please refer to Section 5.2.3 for guidance.
2 How to use
After you have updated the basic firmware, plug in the power and press the power switch to start the Minirobot. The main interface displays Transponder, Calibration, and Information, and the selection is controlled by the three buttons at the bottom, which are up, down, and ok. If you want to use Transponder, please connect Type-C to your device first. (When using the key, if there is no response, please press and pause for a while and then release to ensure that the key is detected) Before the motion control, you need to confirm whether the zero position is normal, relax the mechanical arm and move it to the theoretical zero position, and use the communication protocol to read the angle value through transponder, if the zero deviation is too large, you need to use calibration to calibrate the zero position of each joint first, and use test to check whether the zero position is normal after the calibration is completed.
Note: If there is an abnormal motor communication, the end LED will be red, and the end LED will be green under normal circumstances. When there is a communication abnormality, the motion control cannot be controlled, and the clear_servo_error in the communication protocol needs to be called through the serial port, and the abnormality can be ignored to move
2.1 Communication Forwarding
Enter the communication forwarding interface, you can control the robotic arm by sending commands in the communication protocol through the serial port assistant on your device.
2.2 Zero calibration
The zero calibration interface allows you to calibrate the joint zero and test the zero position.
2.3 Status Information
The status information interface allows you to view the motor connection status and firmware version number.
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MyArm C650 Minirobot 使用指南
1 Minirobot简介
Minirobot是一款通过结合机械臂底座的3个按键以及屏幕显示对MyArm机械臂进行控制的应用。它的功能有通信转发、零位校准、状态信息），便于操作人员与大象机器人进行交互，正确使用大象机器人。
适用设备：
-MyArm C650
该产品出厂时已经烧录所有固件,不需要重复烧录,如需要重新烧录或更新可参考 固件烧录章节
2 如何使用
在你更新完basic固件之后，接通电源，按下电源开关Minirobot启动。主界面显示有Transponder(通信转发)、Calibration(零位校准)、Information(状态信息),通过底部的3个按键去控制选择，分别为up(上移)down(下移)ok(确定)。如果你要使用Transponder，请先连接Type-C到你的设备上。（在使用按键时，若无响应，请按下后停顿一会再松开，以确保检测到按键按下）在进行运动控制前，需要确认零位是否正常，将机械臂放松并移动到理论上的零位，通过transponder使用通讯协议读取角度值，若零位偏差过大则需要使用calibration先校准各关节零位，校准完成后使用test查看零位是否正常。
注意：若出现电机通讯异常，末端LED会呈现红色，正常情况下末端LED为绿色。当出现通讯异常的时候，无法运动控制，此时需要通过串口调用通讯协议里的clear_servo_error，忽略异常才能运动
2.1 通信转发
进入通信转发界面，你可以在你的设备上通过串口助手发送通讯协议中的指令来控制机械臂。
2.2 零位校准
零位校准界面可以进行关节零位校准并测试零位。
2.3 状态信息
状态信息界面可以查看电机连接状态以及固件版本号。
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