CLEARPATH HUSKY A200 User Manual page 14

On the PC, attempt to communicate with Husky using the Python command-line interface (CLI). From a
terminal prompt, type:
$ python –m clearpath.cli
When the connection is made successfully, you should see a readout of information about your Husky
A200 platform, followed by a prompt where you may directly issue Clearpath Communication Protocol
commands. The comm light will still be illuminated red at this point, as the CLI does not issue commands
unless instructed to do so, and thus the connection times out.
At the prompt, issue a command to drive at 0.5 m/s:
clearpath:/dev/ttyUSB0$ set_velocity 0.5 0 2.0
The comm status light should momentarily switch to green. If you haven't yet done so, release the e-
stop, and run the command a second time. This time, the comm light will flash green and the wheels
should turn also. After 200ms, Husky times out and reverts to the comm error status. To maintain the
commanded speed, use the repeat command to send the velocity command continuously at 20 Hz:
clearpath:/dev/ttyUSB0$ repeat 20 set_velocity 0.5 0 2.0
With the wheels spinning continuously, try using request_system_status to return some key data
from Husky:
clearpath:/dev/ttyUSB0$ request_system_status
You should see three voltages, representing the voltage level of the battery, and the input voltage of the
left and right motor drivers, three currents, representing the draw from the battery and the output
current at each motor driver, and two temperatures, representing the temperature of each motor
driver.
When finished, cease the repeated command and exit:
clearpath:/dev/ttyUSB0$ repeat off
clearpath:/dev/ttyUSB0$ exit
For a full list of all available commands, type help at the prompt. For help on a specific command, type
help <command> , for example help set_velocity .
Clearpath Robotics Inc. ©2011 All Rights Reserved. 14