Byte Main Page
==============

Purpose
~~~~~~~
The goal of Byte is to be an assistive dog. It should help a blind person in their everyday tasks.
We want to inspire us from this project:

Thesis Tazer: https://www.youtube.com/watch?v=L8qSAampsHU&t=534s

Requirements
~~~~~~~~~~~~
- The robot shall have a height of between 40 and 55 cm. This is about the normal size for robot dogs.
- Each leg shall have 3 Degrees of Freedom
- The robot should be able to be tele-operated
- The robot should be able to move autonomously
- The robot should be able to recognize objects in its surrounding
- The robot should be safe to use around humans

Brainstorming Electrical/Sensor Requirements
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- 2x 6S batteries
- Plan for modularity
- LIDAR
- Camera
- Speaker + Mic
- GIM8010-8 Motors + drivers
- Power circuitry
- Jetson Orin Nano
- AI accelerator (GPU)
- IMU
- Red emergency button

Test Setup Instructions
~~~~~~~~~~~~~~~~~~~~~~~
Here is a diagram of the wiring for the test setup:

.. image:: /assets/byte_research/TestSetupWiring.png
   :width: 800px
   :align: center

|

And the real implementation:

.. image:: /assets/byte_research/TestSetupReal.jpeg
   :width: 800px
   :align: center

|

**Step 1**

Plug in the motors and the Jetson to the PDBueno

**Step 2**

Plug in the battery to the button

**Step 3**

Make sure the button is in the "ON" configuration

**Step 4**

Plug in the yellow anti-spark connector about 1/4 of the way in to the PDBueno to charge the capacitors (about 10 seconds). The light on the buck should turn on and you should see the voltage stabilize on the multimeter.

**Step 5**

Fully plug in the yellow anti-spark connector and the device is ready to use.

**Nota Bene**

If ever there is an issue, turn the red button to the OFF position. After having done so, wait for the capacitors to discharge (about 90 seconds) and disconnect the yellow anti-spark connector. If you wish to turn on the system again, repeat from Step 3.

Connecting to the Jetson
~~~~~~~~~~~~~~~~~~~~~~~~
To connect to the Jetson, first make sure you are connected to the ``spot-iot`` Wi-Fi network, then run:

.. code-block:: bash

   ssh byte@172.21.67.198

The password is ``woof1234*``.