How to Run Drosophibot II

Scripts can be downloaded at this public GitHub repo:

GitHub - CAGoldsmith/Run-Drosophibot-II: Code for running Drosophibot II and collecting strain data during a trialGitHub

In these instructions:

• "MATLAB script" = runDrosophibot2_InvKin.m

• "Arduino script" = collectDrosophibotStrain36MUX.ino

Instructions

Windows

1. Plug the robot into power. Connect the U2D2 to one USB port of an external computer, and the OpenCM to another port.

2. If this is your first time running the robot on your machine, change these lines in the MATLAB script:

   1. Line 18 to the port name for the U2D2

   2. Line 19 to the port name for the OpenCM

   3. Line 99 to you desired save location

   4. Line 100 to the location of the simulation .mat file you would like to use for kinematic replay

3. Run the Arduino script on the OpenCM

4. Start the MATLAB script

If NOT collecting strain data, you can skip Step 4.

Linux

Common Problems

Arduino sends no data back during strain gauge calibration

One of the strain gauge cables has likely come unplugged. The code should be set up to notify you when this occurs and on what leg, then halt the program.

Some of the servos throw a connection error when turning torque on/off

The affected servos likely had slight positional errors last trial. The servos will run completely fine while throwing this error. You can also unplug/plug the robot from power to clear the errors.