Powering P1 =========== Power On Procedure ------------------ When the Robot is off, turn on the battery first by short pressing + long pressing; the battery light will turn on. .. figure:: media/pictures/p1/pw1.jpg :width: 70% :align: center :class: mbsrounded | * Then turn on the robot switch to start the robot located at the back of the robot. * Wait 30-40 sseconds for the robot to power on complete. Power Off Procedure ------------------- - When the Robot is on, turn off the robot switch(located at the back of the robot) first. - Turn off the battery by short pressing + long pressing; the light will turn off. - Power off complete. .. Note:: If the device cannot be controlled or does not enter the system after powering on, please check the battery level and try restarting. .. Important:: When powering on or off, please ensure the device is in a controllable state (e.g., lifeup or crouched on the ground, pictures below). .. figure:: media/pictures/p1/combo.png :width: 70% :align: center :class: mbsrounded | - Use a hanging bracket to lift the robot off the ground, or you can hold and lift the robot by hand.​ .. figure:: media/pictures/p1/combo2.png :width: 70% :align: center :class: mbsrounded | - If robot auto zero correction fails. Please re-zero the robot (Press L1+X, then press L1+R1).​ Robot Startup ============= - Turn on the battery switch and ensure the system completes power-up by turning on the switch at the back of the robot and waiting 30-40 secondsafter power-up.​ .. figure:: media/pictures/p1/ri1.png :width: 70% :align: center :class: mbsrounded | - Lift the robot onto its toes. .. figure:: media/pictures/p1/combo2.png :width: 70% :align: center :class: mbsrounded | - Press Right joystick to fully activate the robots controls. .. figure:: media/pictures/p1/ri3.png :width: 70% :align: center :class: mbsrounded | - Use the remote control to zero the robot (press L1 + R1).​ .. figure:: media/pictures/p1/ri4.png :width: 70% :align: center :class: mbsrounded - Use the remote control to put the robot into standing mode (press L1 + A) (the robot's feet need to touch the ground).​ .. figure:: media/pictures/p1/ri5.png :width: 70% :align: center :class: mbsrounded | - Use the remote control to put the robot into walking mode (press L1 + B) (the right joystick of the remote control controls forward and sideways walking of the robot, while the left joystick controls left and right rotation).​ .. figure:: media/pictures/p1/ri6.png :width: 70% :align: center :class: mbsrounded | - Use the remote control to put the robot into damping mode (press L1 + X, support the toes before entering damping mode).​ .. figure:: media/pictures/p1/ri7.png :width: 70% :align: center :class: mbsrounded | - Power down the entire system by turning off the switch at the back of the robot.​ Remote Control ============== .. figure:: media/pictures/p1/rc.png :width: 70% :align: center :class: mbsrounded | - **Signal Strength:** At least 1 bar of signal is needed to control the robot.​ - **Power Display:** When there is only 1 bar of power left, there is a risk of the remote control. - **Left Joystick:** Controls the robot's forward and backward movement and lateral movement. - **Right Joystick:** Controls the robot's direction​. - **Power Switch:** Single click to turn on the power, double click to turn off the power - **​Spare Button:** Currently it has no function.​ Remote Control Modes​ --------------------- +--------------------+-----------+--------------------------+----------------------------------------+ | States | Key Value | States Description | Preconditions | +====================+===========+==========================+========================================+ | Auto Zeroing | L1+R1 | Initialize all joints | The robot needs to be suspended | | | | | and off the ground | +--------------------+-----------+--------------------------+----------------------------------------+ | Idle State | L1+X | All joint motors are in | The robot needs to be suspended | | | | torque damping mode | and off the ground | | | | and gradually descend | | | | | This mode is entered | | | | | after powering on | | +--------------------+-----------+--------------------------+----------------------------------------+ | Standing State | L1+A | Both legs autonomously | Requires external force | | | | Standing power up and | assistance, and both feet are in | | | | perform State ground | contact with the ground | | | | contact/stand-up actions | | +--------------------+-----------+--------------------------+----------------------------------------+ | Walking State | L1+B | The robot enters a | | | | | stepping state and can | X | | | | be controlled remotely | | +--------------------+-----------+--------------------------+----------------------------------------+ | Developer State | R1+Left | Users can deploy control | After switching to developer | | | | and secondary development| mode, the main station automatically | | | | programs | restarts to take effect | +--------------------+-----------+--------------------------+----------------------------------------+ | Non-Developer State| R1+Right | Mode for RL model- | Effective after switching until | | | | controlled robot movement| switching to other modes | | | | | (developer mode / MB mode) | | | | | After switching modes, the main | | | | | station automatically restarts to take | | | | | effect | +--------------------+-----------+--------------------------+----------------------------------------+ | E-Stop | Left and | All motors and computers | Press simultaneously; triggers | | | right | immediately Global power | emergency stop in any mode and | | | joystick | off but battery power and| state, immediately cutting off | | | button | indicator lights remain | all motor power | | | | on the entire unit may | | | | | drop | | +--------------------+-----------+--------------------------+----------------------------------------+ | E-Release | Right | Motor Power-up again | Single click; no effect in other | | | Joystick | | states; upon release, enters | | | button | | damping state | +--------------------+-----------+--------------------------+----------------------------------------+ | External Power ============== To use externel power as an input please follow the below mentioned steps: - Remove the top cover of P1 by uncrewing two screws as shown in the picture below. .. figure:: media/pictures/p1/ep11.png :width: 70% :align: center :class: mbsrounded | - Once unscrewed you should be able to see the power ports from which one of them is for the DJI battery. .. figure:: media/pictures/p1/ep2.png :width: 70% :align: center :class: mbsrounded | - Unplug that power port and and connect the alternative 24V extrenal power supply that you want to use.