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---+Moving the Gantry, Stages, and Robots

#LocalControl
---+++Local Commands on =kiewa=

To move that gantry and stages, you can use the =move= command, which takes the name of the device to be moved, followed by a set of joint coordinates.

<verbatim>
    % move gantry to 270,-620,-260,52,-15
    % move stage to 0,0,-45
    % move linear to 450
</verbatim>

The =move= command is only available on =kiewa= (see below on how to [[#RemoteControl][remote-control ACME]]), and it takes the general form

<verbatim>
    % move [<robotname>] (to|by) <list of joint values>
</verbatim>

For example,

<verbatim>
    % move gantry to 500,100,0,0,0
</verbatim>

will cause the gantry joints to move to the values 500, 100, 0, 0, 0.

<verbatim>
    % move gantry by 100,100,-20 
</verbatim>

will cause the first 3 gantry joints to be moved relatively by 100, 100, and -20. Joints not specified in the 'move' argument list are not moved.

The names of the robots are

   * =linear= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMELinear.jpg">linear stage</a>)
   * =stage= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEStage.jpg">test stage and turn table</a>)
   * =thumper= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEPuma.jpg">puma260</a>)
   * =gantry= (for the <a href="%PUBURL%/%WEB%/ActiveMeasurementFacility/ACMEGantry.jpg">gantry</a>)

If you don't specify a name, the default is =thumper= (the puma).

To find out where a robot is, you can do 

<verbatim>
    % move <robotname> by 0
</verbatim>

and this will print out the joints where the robot is currently at. You can also run
 
<verbatim>
    % free <robotname>
</verbatim>

and type 'show' after the prompt.


#RemoteControl
---+++Remote Control from any Machine

In many cases it is necessary to control ACME remotely, for example, when also controlling cameras that are not attached to =kiewa=. To do this, we have client/server Perl scripts. The client is called =[[%ATTACHURL%/acmemove][acmemove]]=, and it takes the same arguments as the =move= command on =kiewa=. The server (or daemon), is called =[[%ATTACHURL%/moved][moved]]=, and needs to be started on =kiewa=. The client can be either a UNIX (e.g. Linux or Solaris), Mac, or Windows machine. In the case of Windows, the scripts should be run from Cygwin.

The two programs talk over port 4711. This, however, presents a bit of a problem, because =kiewa= is behind a firewall. Therefore, it is necessary to create an =ssh= tunnel from the remote control machine to =kiewa=. The necessary steps are then:


   1. Create ssh tunnel:
      A. Linux/Solaris/Mac: =ssh -L4711:kiewa:4711 kiewa.cs.ubc.ca=
      A. Windows: in =SecureCRT=, create a new connection. Enter =kiewa= as the server, and then click on the advanced options for that connection. You should see a entitled "port forwarding". Add port 4711 as both the local and the remote port for this connection.
   1. Run =moved= on =kiewa= to start the server. Log messages will be output to the terminal.
   1. Run =acmemove= with the appropriate parameters (described [[#LocalControl][above]] for the =move= command) on the remote host to control ACME.


-- Main.WolfgangHeidrich - 24 Nov 2005


#kiewa
---+++Changes to kiewa

kiewa is old and unpatched, so it does not mount all the filesystems for security reasons. In particular, /usr/bin/perl is not available. To run the acmemove scripts, perl can instead be found  /cs/local/bin/perl

At some point in time something changed and the moved script no longer executes properly. Make the following change to fix it:
<verbatim>
   # we need to be on kiewa for this daemon to work
   #($ENV{'SHORTHOST'} eq "kiewa") or die "This program must be run on kiewa!\n";
   ($ENV{'HOSTNAME'} eq "kiewa.cs.ubc.ca") or die "This program must be run on kiewa!\n";
</verbatim>

-- Main.BradAtcheson - 15 May 2009
Attachments
Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
ext	acmemove	r1	manage	0.8 K	2005-12-16 - 03:22	WolfgangHeidrich
ext	moved	r1	manage	1.4 K	2005-12-16 - 03:23	WolfgangHeidrich
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Topic revision: r4 - 2009-05-15 - BradAtcheson