Terminal

To open the terminal to connect to the robot, run:

cd tools
python3 terminal.py

You’ll be greeted with a yauc> prompt, into which you can type help for more information.

A typical session looks as follows:

...\tools> .\terminal.py
Yaw Actuated UniCycle command line interface
Connected!
Yaw Actuated UniCycle startup
Starting PWM setup
Starting I2C setup
Starting encoder setup
All done
yauc> policy ../ctrl.mat
controller {
  wheel {
    k_pitch: 1.2732395447351628
  }
  turntable {
    k_dyaw: -0.6366197723675814
  }
}

yauc> go 5
Starting bulk mode
Asking for logs
Waiting for reply
No data yet
Asking for logs
Waiting for reply
No data yet
Asking for logs
Waiting for reply
Test completed
Sending test data
Success
Saved rollout of 5 steps to ..\logs\2017-04-04 10꞉25꞉50\0.mat
yauc> disconnect
Connection lost
yauc> ^D
Exiting cli and stopping motors
Already disconnected
yauc>

After using the go command, the USB cable can be disconnected. The terminal will automatically reconnect to and recieve data from the robot when the USB cable is reattached.