hehesheng/unitree_actuator_sdk
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add | introduction to the pattern

Browse Source
This commit is contained in:
Yichao Zhang 2022-12-02 21:14:05 +08:00
parent 1ba4a15df2
commit 389cfcbd49
3 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
motor_tools/README.md
View File

@ -9,10 +9,23 @@ This is a set of tools to operate the internal configuration of the motor throug
`swmotor`: Switch to motor mode (Default), Motor while be enable.(Configuration cannot be modified) `swmotor`: Switch to motor mode (Default), Motor while be enable.(Configuration cannot be modified)
`cancelboot`: Rescue modes, such as misoperation (such as upgrade failure), cause the motor to turn into brick. `cancelboot`: Rescue modes, such as misoperation (such as upgrade failure), cause the motor to turn into brick.
### How to distinguish which mode the motor is currently in?
Look at the green LED on the back of the motor.
| Motor Mode | Bootloader Mode |
| ---- | ---- |
| ![Motor Mode](motor_mode.gif) | ![Bootloader Mode](bootloader_mode.gif) |
| Slow Blink. | Fast Blink 3 times. |
## Using ## Using
The downloaded linux executable file does not have permission to run directly, please: The downloaded linux executable file does not have permission to run directly, please:
`sudo chmod 777 ./unisp ./changeid ./swboot ./swmotor ./cancelboot` `sudo chmod 777 ./unisp ./changeid ./swboot ./swmotor ./cancelboot`
run example for changeid:
`sudo ./changeid /dev/ttyUSB0 0 2`
## Other
Unitree MotorToolbox does not require root permissions to function properly, but the exception is that your `ttyUSB` device must have sufficient permissions. like: Unitree MotorToolbox does not require root permissions to function properly, but the exception is that your `ttyUSB` device must have sufficient permissions. like:

BIN
motor_tools/bootloader_mode.gif Executable file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.7 MiB

BIN
motor_tools/motor_mode.gif Executable file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.8 MiB