Autoplot App Guide
The Autoplot app is an advanced control interface for your Amiga, offering multiple modes of operation:
- Direct control: Manually drive the robot with simple controls for straight, turn, and backwards.
- Teach-and-repeat: Manually drive the robot along a desired path, save it, and then command the robot to repeat the path autonomously.
- Remote teleoperation: Control the robot through any web browser using a keyboard or an 8Bitdo Sn30 joystick.
Running the Autoplot app directly on the robot's screen demands considerable computational resources. For optimal performance, avoid using the Autoplot app alongside other custom applications on the brain. It is recommended to use the Autoplot app and any custom applications through a web browser on a separate device, as this should not impact performance.
Autonomy Requirements
Before engaging autonomy, ensure to verify:
- Accurate IMU Calibration.
- The correct offsets are set in Robot Geometry.
- GPS NTRIP requirements have been met.
- Robot is connected to WiFi.
- Amiga Dashboard is set to Auto Control.
For precision in autonomous operations, configuring the RTK-GPS is essential. This is critical for tasks that require precise geo-location capabilities. Detailed RTK-GPS information can be found on the GPS Service overview page.
How to Use the Autoplot App
Teach-and-Repeat
The Amiga's teach-and-repeat functionality allows you to drive the robot along a desired path and then repeat the path autonomously. The process for doing so is as follows:
1. New Path
Click the New Path icon to initiate recording.
2. Map your Path
Drive the robot through the desired path and note the blue dots popping up on the screen indicating the robot's trace.
If you need to remove points along your recorded track, click the Pause Path button followed by the Remove Point button.
Each press of the Remove Point button will delete a single dot. Deleted points will appear in green.
Once you have removed the desired points, click on Resume Recording to continue mapping your path.
Use this feature when you have deviated slightly from the desired course and need to make some corrections.
3. Saving a Path
Clicking the Save button will prompt you to name your recently recorded track for later use.
4. Load Path
Clicking the Load Path icon enables you to select from any of your previously recorded tracks.
In order to repeat a pre-recorded path, you must manually set the Dashboard to Auto Control, and be sure that all other Autonomy Requirements have been met.
Once you have loaded a track the Start Path icon will turn black and you will be ready to deploy autonomous navigation on your Amiga.
After starting to follow the track, the Start Track button will switch to Stop,
which can be used to interrupt the autonomous task.
Additionally, users can press the ○ button on the pendant to disengage automode,
which will automatically cancel the autonomous operation.
Tool Control
This feature allows you to control your connected hardware devices through a browser window.
The control panel is accessed by clicking on the gear icon located in the upper
right corner.
Starting with dashboard firmware release amiga-dash-v0.5.0, there is support for up to four H-Bridge devices. These devices can be either latched or momentarily controlled, and can optionally be coupled for synchronous operation.
Up to two PTO Devices are also supported and can be remotely selected for operation. The control panel gives you directional controls for both H-Bridge and PTO connected devices. As an added safety measure you may remotely stop all actively engaged tools.
How to Control your Amiga
You can control your Amiga robot in two ways:
Manual Control: Use the pendant, the kartech or dashboard while physically present with the robot, ideal for teaching the robot new tracks.
Here are instructions for using the pendant and the kartech at the dashboard firmware release amiga-dash-v0.5.0
The supported Kartech remote changed in dashboard firmware release amiga-dash-v0.7.0.
Documentation of the controls for this remote are coming soon.
Remote Control: From your web browser, you can remotely operate the robot without needing to be in the same physical location. For that, you can use a keyboard for driving your Amiga, or use an 8Bitdo Sn30 joystick.
Here are instructions for using both options:
The remote Control operation requires the robot's Dashboard be set to Auto Control. This mode ensures that all movements are managed safely by the robot's autonomous systems.
Both methods allow for track recording; however, remote control enables you to operate the robot from any location with internet access.
Tracks can be taught to the robot by driving it manually with the pendant or the Kar-Tech controller. Alternatively, you may use the Keyboard controls or the Game Pad controller via a web browser.
Tips for Optimal Autonomy
- Always perform a safety check of the surrounding environment before engaging in autonomous operations.
- When operating the robot via remote keyboard control in the web app, ensure a stable and responsive network connection.
- Monitor the robot's battery status via the Autoplot app to avoid interruptions in longer operations.
Troubleshooting
If you encounter issues with autonomy or control:
- Verify all status indicators in the Autoplot app's top bar are active and showing the expected states.
- Confirm that IMU Calibration and GPS NTRIP settings are set correctly and up-to-date.
- If the robot does not respond to WASD keyboard commands, ensure that no other tasks are running and the robot's Dashboard is set to Auto Control.
- If the CAN has an unhealthy state, the icon on the navigation bar will be crossed out. Click on the icon to visualize the CAN status and any possible errors.
- If the filter is not converged, the icon on the navigation bar will be crossed out. Click on the icon to visualize error's details.
- If the robot is not receiving GPS messages the icon on the navigation bar will be crossed out. Click on the icon to visualize error's details.
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If the robot is following tracks but with an small offset (up to 30 cm or 12 inches), your RTK service may need extra time to improve the accuracy of its connection. This is prone to happen when more than 12 km (8 miles) of your base station, when operating under cloudy conditions, and/or local topography. In some cases, this problem is reduced within 5 to 30 minutes of the system boot. Moving the robot on your operational area can reduce this time.
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If you see tracks with an expressive offset (larger than 0.5 m or 2 feet), verify that your RTK-correction service provider is NOT using a VRS (Virtual Reference Station).These stations change their reference system after every reboot and are not currently supported. We recommend switching to a service provider that uses a static base station or that you record new paths after every reboot.
Occasionally, track following might fail. An error message will appear and the Start Path button will switch to Error-Check status. If you encounter this error message, make sure you Robot meets all the Autonomy Requirements.
For further assistance, reach out to the support team.