## For instruction on writing tutorials
## http://www.ros.org/wiki/WritingTutorials
####################################
##FILL ME IN
####################################
## for a custom note with links:
## note =
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links 
## note.0= 
## descriptive title for the tutorial
## title = Wiring Mini Maxwell
## multi-line description to be displayed in search 
## description = This tutorial shows how to wire and program the servos.
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link= [[mini_max_defs/Tutorials/Netbook Setup (Diamondback)|Netbook Setup]]
## next.1.link=
## what level user is this tutorial for 
## level= BeginnerCategory
## keywords =
####################################

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Install Arbotix Stack ==
To run the software, you need to install the [[arbotix]] stack. Follow the instructions on the stack page to install.

== Uploading the ROS Sketch ==
If using an original ArbotiX, you will need to install the ROS sketch on the ArbotiX using the Arduino IDE. Follow the instructions on the [[http://code.google.com/p/arbotix/wiki/GettingSetup|ArbotiX Getting Started]] page to install the IDE. 

The latest sketch code can be found in the [[arbotix_firmware]] package. Please make note that it requires the [[http://code.google.com/p/arbotix/downloads/detail?name=libraries-ros.zip&can=2&q=|latest versions of several libraries]].

== Programming the Servos ==
Each servo ships with an ID of 1, so we need to program the servos with new IDs before use. The easiest way to do this is to connect the ArbotiX to the PC using the USB cable, and then attach one servo at a time setting the ID using Arbotix terminal program. 

To start the terminal, enter the appropriate serial port:
{{{
rosrun arbotix_python terminal.py /dev/ttyUSB0
}}}

The terminal works like a typical Linux terminal. Typing ''ls'' will query the ArbotiX for the attached servos and print the number of each. If you attach a single servo, you should get just "1" when you type ''ls''. You can then move this servo to a new ID using the ''mv old_id new_id'' command. Let's move our servo #1 to ID 2:
{{{
  mv 1 2
}}}

Do the same until you have number your servos as follows:
{{{
Arm Servos (from base to gripper)
 ID 1 = Shoulder pan
 ID 2 = Shoulder lift
 ID 3 = Elbow
 ID 4 = Wrist
 ID 5 = Gripper

Head Servos
 ID 6 = Pan
 ID 7 = Tilt
}}}
Remember, each servo must be plugged in one at a time -- if you have two servos with the same ID plugged in at the same time you will be unable to communicate with either!

## AUTOGENERATED DO NOT DELETE 
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE