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diff --git a/en/compatibility/cts/sensor-fusion-quick-start.html b/en/compatibility/cts/sensor-fusion-quick-start.html index 6ade5513..2b3783bb 100644 --- a/en/compatibility/cts/sensor-fusion-quick-start.html +++ b/en/compatibility/cts/sensor-fusion-quick-start.html @@ -25,43 +25,55 @@ </p> <h2 id="required-tools">Required tools</h2> <p> - Before getting started, ensure you have the following cables and cords - available:</p> + Before getting started, ensure you have the following components:</p> <figure id="sensor-fusion-test-component"> <img src="/compatibility/cts/images/sensor_fusion_test_components.png" width="700" alt="Sensor fusion test components"> - <figcaption><b>Figure 1.</b> Components required for the sensor fusion test</figcaption> + <figcaption><b>Figure 1.</b> Components required for the sensor fusion + test</figcaption> </figure> - <ul> + <ol> <li>USB A to B cable</li> <li>USB A to C cable (for test phone)</li> - <li>12V power cord (for servo control box)</li> + <li>12V 2A power cord (for servo control box)</li> <li>12V power cord (for lighting, with switch)</li> - <li>Interconnected cable (for lighting)</li> - <li>Conversion cable (for lighting)</li> - </ul> + <li>5V male-male connection cable (for lighting)</li> + <li>5V male-female conversion cable (for lighting)</li> + </ol> <h2 id="step-1-connect-lights">Step 1: Connect lights</h2> <p> To connect the lights: </p> <ol> - <li>Use the interconnected cable to connect the two lights.</li> - <li>Connect one light to the conversion cable. + <li>Use the male-male cable to connect the two lights on the bottom ends + of the lights as shown in figure 2. Secure the cable to the bottom of the + box to keep the cable from interfering with the operation.</li> + <li>Connect the end of the light closer to the light cable exit hole to + the conversion cable <figure id="sensor-fusion-connect-lights"> <img src="/compatibility/cts/images/sensor_fusion_connect_lights.png" width="300" alt="Connect lights"> - <figcaption><b>Figure 2.</b> Connecting the lights to each other and one light to the conversion cable</figcaption> + <figcaption><b>Figure 2.</b> Connecting the lights to each other and + one light to the conversion cable</figcaption> </figure> + <ol> + <li>Light cable exit hole</li> + <li>USB cable exit hole</li> + <li>5V male-male conversion cable</li> + </ol> </li> <li>Thread the unconnected end of the conversion cable through the round - hole that exits the box, then connect the end of that cable to the power + hole that exits the box, then connect it to the power cable for lighting. - <table class="columns"> - <tr> - <td><img src="/compatibility/cts/images/sensor_fusion_conversion_cable1.png" width="" alt="Conversion cable and power cable"></td> - <td><img src="/compatibility/cts/images/sensor_fusion_conversion_cable2.png" width="" alt="Power cable for lighting"></td> - </tr> - </table> - <b>Figure 3.</b> Lighting conversion cable exiting the box and connecting - to power cable</li> + <figure id="Conversion cable and power cable"> + <img src="/compatibility/cts/images/sensor_fusion_conversion_cable.png" width="500" alt="Conversion and power cable"> + <figcaption><b>Figure 3.</b> Lighting conversion cable exiting the box + and connecting to power cable</figcaption> + </figure> + <ol> + <li>Exit hole</li> + <li>Conversion cable</li> + <li>Power cable</li> + </ol> + </li> </ol> <h2 id="step-2-attach-servo">Step 2: Attach servo</h2> <p> @@ -71,104 +83,116 @@ <li>Plug the servo connector into the servo control. Be sure to insert the connector oriented to the corresponding colors as labeled (Y = Yellow, R = Red, B = Black), as reversing the order could damage the - motor. + motor. If the cord is too short, use a + <a href="https://www.adafruit.com/product/972" class="external"> + servo extension cable</a>. <figure id="sensor-fusion-servo-connector"> <img src="/compatibility/cts/images/sensor_fusion_servo_connector.png" width="300" alt="Servo connecting to the servo control box"> - <figcaption><b>Figure 4.</b> Servo connecting to the servo control box</figcaption> + <figcaption><b>Figure 4.</b> Servo connecting to the servo control + box</figcaption> + </figure> + </li> + <li>Connect the servo control with its power cord (the lighting and + servo control have independent, dedicated power supplies as shown in + figure 5). + <figure id="sensor-fusion-servo-control"> + <img src="/compatibility/cts/images/sensor_fusion_servo_control.png" width="500" alt="Connecting servo control to power"> + <figcaption><b>Figure 5.</b> Connecting the servo control to its + dedicated power cord</figcaption> </figure> - <li>Connect the servo control with its power cord (the lighting and - servo control have independent, dedicated power supplies). - <table class="columns"> - <tr> - <td><img src="/compatibility/cts/images/sensor_fusion_servo_control1.png" width="" alt="Servo control"></td> - <td><img src="/compatibility/cts/images/sensor_fusion_servo_control2.png" width="" alt="Power to servo control"></td> - </tr> - </table> - <b>Figure 5.</b> Connecting the servo control to its dedicated power - cord - <li>Use the USB A to B cable to connect the servo control box to the - host (machine that is running the test). - <table class="columns"> - <tr> - <td><img src="/compatibility/cts/images/sensor_fusion_servo_control_box1.png" width="" alt="Connect servo control box"></td> - <td><img src="/compatibility/cts/images/sensor_fusion_servo_control_box2.png" width="" alt="Connect servo control box to host"></td> - </tr> - </table> - <b>Figure 6.</b> Connecting the servo control box to the host machine</li> - </ol> - <h2 id="step-3-attach-phone">Step 3: Attach phone</h2> <ol> - <li>Set the phone on the fixture and clamp it down.<br> - <table class="columns"> - <tr> - <td><img src="/compatibility/cts/images/sensor_fusion_fixture1.png" width="" alt="Phone on fixture"></td> - <td><img src="/compatibility/cts/images/sensor_fusion_fixture2.png" width="" alt="Clamping phone on fixture"></td> - </tr> - </table> - <b>Figure 7.</b> Placing and clamping the phone on the fixture - <p> The upside-down thumb screw provides back support while the - other screw tightens the grip by turning right. For more help, - refer to the video on loading the phone (included in the - <a href="/compatibility/cts/sensor_fusion_1.5.zip">Sensor - Fusion Box zip file</a>). </p> - </li> - <li>Use a zip tie to hold the phone USB cord to the fixture plate and - lead it outside the box through the exit hole. Plug the other end - of the cord to the host running the test. - <figure id="sensor-fusion-zip-ties"> - <img src="/compatibility/cts/images/sensor_fusion_zip_ties.png" width="300" alt="Phone USB cord with zip ties"> - <figcaption><b>Figure 8.</b> Phone USB cord held to fixture with - zip ties</figcaption> - </figure> - </li> + <li>Power for servo control</li> + <li>Power for lighting</li> </ol> - <h2 id="step-4-run-test-script">Step 4: Run test script</h2> - <p> - The main python executable for the test script is: - </p> - <pre class="prettyprint">python tools/run_all_tests.py device=ID camera=0 scenes=sensor_fusion rot_rig=default</pre> - <p>You can also enter the actual rotator address at the command line - using:</p> - <pre class="prettyprint">rot_rig=VID:PID:CH</pre> + </li> + <li>Use the USB A to B cable to connect the servo control box to the + host (machine that is running the test). + <figure id="sensor-fusion-servo-control-box"> + <img src="/compatibility/cts/images/sensor_fusion_servo_control_box.png" width="500" alt="Connect servo control box to host machine"> + <figcaption><b>Figure 6.</b> Connecting the servo control box to the + host machine</figcaption> + </figure> + </ol> + <h2 id="step-3-attach-phone">Step 3: Attach phone</h2> + <ol> + <li>Set the phone on the fixture and clamp it down.<br> + <figure id="sensor-fusion-servo-connector"> + <img src="/compatibility/cts/images/sensor_fusion_fixture.png" width="500" alt="Attaching phone on fixture"> + <figcaption><b>Figure 7.</b> Placing and clamping the phone on the + fixture</figcaption> + </figure> + <ol> + <li>Back support</li> + <li>Tightness</li> + </ol> + <p>Phones should be placed in a manner where the USB cords are located at + the periphery of the phone mount and the cameras are near the center of + the mount. + </p> + <p>The upside-down thumb screw provides back support while the other screw + tightens the grip by turning right. For more details, see + <a href="#attach-phone-to-mount">video on how to + attach the phone</a>.</p> + </li> + <li>Use a zip tie to hold the phone USB cord to the fixture plate and + lead it outside the box through the exit hole. Plug the other end + of the cord to the host running the test. + <figure id="sensor-fusion-zip-ties"> + <img src="/compatibility/cts/images/sensor_fusion_zip_ties.png" width="300" alt="Phone USB cord with zip ties"> + <figcaption><b>Figure 8.</b> Phone USB cord held to fixture with + zip ties</figcaption> + </figure> + </li> + </ol> + <h2 id="step-4-run-test-script">Step 4: Run test script</h2> + <p> + The main python executable for the test script is: + </p> + <pre class="prettyprint"><code class="devsite-terminal">python tools/run_all_tests.py device=ID camera=0 scenes=sensor_fusion rot_rig=default</code> + </pre> + <p>You can modify the command to specify the actual rotator address by using:</p> + <pre class="prettyprint">rot_rig=<var>VID:PID:CH</var> + </pre> <ul> <li>To determine the Vendor ID (VID) and Product ID (PID), use the Linux - command <code>lsusb</code>.</li> <li>By default, the VID and PID are set + command <code>lsusb</code>.</li> + <li>By default, the VID and PID are set to <code>04d8</code> and <code>fc73</code> with channel "1".</li> </ul> - <h3 id="multiple-runs-different-formats">Multiple runs, different formats</h3> + <h3 id="multiple-runs-different-formats">Multiple runs, different formats</h3> <p>To perform multiple runs with different formats, you can use a different script (however, the results will not be uploaded to - <code>CtsVerifier.apk</code>). Sample test script: </p> - <pre class="prettyprint">python tools/run_sensor_fusion_box.py device=FA7831A00278 camera=0 rotator=default img_size=640,360 fps=30 test_length=7</pre> + <code>CtsVerifier.apk</code>). Sample test script:</p> + <pre class="prettyprint"><code class="devsite-terminal">python tools/run_sensor_fusion_box.py device=FA7831A00278 camera=0 rotator=default img_size=640,360 fps=30 test_length=7</code></pre> <h3 id="permission-issues">Permission issues</h3> <p>To resolve permission issues related to controlling the motor through the USB port:</p> <ol> - <li>Add the operator username to <code>dialout</code> group using: - <pre class="prettyprint">sudo adduser $username dialout</pre></li> + <li>Add the operator username to the <code>dialout</code> group using: + <pre class="prettyprint"><code class="devsite-terminal">sudo adduser <var>USERNAME</var> dialout</code> + </pre></li> <li>Log out the operator.</li> <li>Log in the operator.</li> </ol> - <h2>Adjusting the motor</h2> + <h2 id="adjusting-the-motor">Adjusting the motor</h2> <p> - You can adjust the speed of the motor and the distance the phone' travels - using the resistance ports (labelled <strong>A</strong>, + You can adjust the speed of the motor and the distance the phone travels + using the resistance ports (labeled <strong>A</strong>, <strong>B</strong>, and <strong>T</strong>) on the side of the controller box. </p> <ol> + <li>Upon first receiving the box, power up the box and determine the initial + position. If the initial position on power-up is not close to 12 + o'clock, unscrew the phone fixture (single Philips head screw in mount + hole) and rotate the phone fixture to 12 o'clock.</li> <li>Ensure the phone fixture travels a full 90 degrees (from 12 o'clock to 9 o'clock when looking at the phone) for each rotation. <ul> - <li>To adjust the distance travelled, use the <strong>A</strong> and + <li>To adjust the distance traveled, use the <strong>A</strong> and <strong>B</strong> screws (where <strong>A</strong> is the starting location and <strong>B</strong> is the final location).</li> - <li>Upon first receiving the box, it is easiest to power up the box and - determine the initial position. If the initial position on power-up - is not close to 12 o'clock, unscrew the phone fixture (single Philips - head screw in mount hole) and rotate the phone fixture to 12 - o'clock.</li> </ul> </li> <li>Adjust the rotation speed to travel a full rotation in 1.5s. Turning @@ -176,7 +200,7 @@ <table class="columns"> <tr> <td> - <img src="/compatibility/cts/images/sensor_fusion_adjust.png" width="" alt="Adjust position and speed of servo"> + <img src="/compatibility/cts/images/sensor_fusion_adjust.png" width="300" alt="Adjust position and speed of servo"> </td> <td> <ul> @@ -191,10 +215,32 @@ fixture </li> </ol> - <p> - For more help, refer to the video of the sensor fusion box running (included - in the <a href=/compatibility/cts/sensor_fusion_1.5.zip>Sensor Fusion Box - zip file</a>). - </p> + <p>For more information, see <a href="#video-tutorials">video tutorials</a>.</p> + <h2 id="video-tutorials">Video tutorials</h2> + <div class="video-wrapper-full-width"> + <h3 id="attach-phone-to-mount">Attaching phone to mount</h3> + <iframe class="devsite-embedded-youtube-video" data-video-id="zV61A0Mv394" + data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> + </iframe> + </div> + <div class="video-wrapper-full-width"> + <h3 id="install-phones-dual-mount">Installing phones on a dual mount</h3> + <iframe class="devsite-embedded-youtube-video" data-video-id="S2SrICXJWOA" + data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> + </iframe> + </div> + <div class="video-wrapper-full-width"> + <h3 id="calibrate-controller">Calibrating the controller</h3> + <iframe class="devsite-embedded-youtube-video" data-video-id="Jvm0RlwaTlY" + data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> + </iframe> + </div> + <div class="video-wrapper-full-width"> + <h3 id="adjust-phone-fixture">Adjusting the phone fixture</h3> + <iframe class="devsite-embedded-youtube-video" data-video-id="hbKCxqmg-eg" + data-autohide="1" data-showinfo="0" frameborder="0" allowfullscreen> + </iframe> + </div> + </body> </html> |