puma / README.md

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README.md

 
 To startup the arm:
 
-# *HIT THE E-STOP SWITCH*
-# Power up the the arm.
-# Use the brake release switch to pose the arm into the home position.
-# Power cycle the arm to reset the counters for the home position.
-# Plug in the USB if it is not already.
-# Run `mdc-telnet.py`, wait for all six axes to report.
-# Run `Puma.py` to contact the server.
-## Send `r` command to read raw joint counters,
-## Send `a` command to read the joint angles.
-## Send `p` command to print XYZ, ASN coordinates
-## Send `hold` command to hold current position
-# Run `Shuffleboard.py` to start the shuffleboard server
-# Run `telnet localhost 27189` to verify data
+* *HIT THE E-STOP SWITCH*
+* Power up the the arm.
+* Use the brake release switch to pose the arm into the home position.
+* Power cycle the arm to reset the counters for the home position.
+* Plug in the USB if it is not already.
+* Run `mdc-telnet.py`, wait for all six axes to report.
+* Run `Puma.py` to contact the server.
+*# Send `r` command to read raw joint counters,
+*# Send `a` command to read the joint angles.
+*# Send `p` command to print XYZ, ASN coordinates
+*# Send `hold` command to hold current position
+* Run `Shuffleboard.py` to start the shuffleboard server
+* Run `telnet localhost 27189` to verify data
 
 To unlock the arm:
 
-# Send `hold` command.
-# Twist the E-stop to unlock the brake.
-# If anything looks weird -- *HIT THE E-STOP SWITCH*.
-# If the sixth axis is spinning, hit the E-stop and wait a few seconds before releasing it.
-# Sometimes it takes two or three times to settle back down.
+* Send `hold` command.
+* Twist the E-stop to unlock the brake.
+* If anything looks weird -- *HIT THE E-STOP SWITCH*.
+* If the sixth axis is spinning, hit the E-stop and wait a few seconds before releasing it.
+* Sometimes it takes two or three times to settle back down.
 
 To calibrate the arm positions at different distances:
 
-# Values are in `Shuffleboard.py` function `map_z`.
-# Yes, it could be written in a much better fashion.
-# To test, send a command from the `Puma.py` program:
-## `350 130 0`
-## And then adjust the Z value downwards:
-## `350 130 -20`
-## `350 130 -30`
-## `350 130 -35`, etc
-# Write that value into the `map_z` function.
+* Values are in `Shuffleboard.py` function `map_z`.
+* Yes, it could be written in a much better fashion.
+* To test, send a command from the `Puma.py` program:
+** `350 130 0`
+** And then adjust the Z value downwards:
+** `350 130 -20`
+** `350 130 -30`
+** `350 130 -35`, etc
+* Write that value into the `map_z` function.
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