3
4.2 Move the robot.....................................................................................................................................25
4.3 Use the tools..........................................................................................................................................27
4.3.1 Overview.........................................................................................................................................27
4.3.2 How to plug the tools? .............................................................................................................28
4.3.3 Select a tool...................................................................................................................................30
4.3.4 Control a tool................................................................................................................................31
4.4 Digital I/O panel ...................................................................................................................................31
4.5 Saved positions.....................................................................................................................................33
4.5.1 Overview.........................................................................................................................................33
4.5.2 Save a position.............................................................................................................................34
4.5.3 How to use a saved position? ................................................................................................34
4.6 Niryo Blocks............................................................................................................................................35
4.7 Sequences...............................................................................................................................................39
4.7.1 Save a sequence..........................................................................................................................39
4.7.2 Save a sequence from Niryo Blocks.....................................................................................41
4.8 Use the top button to trigger a (set of) sequences.................................................................42
4.9 Use a joystick controller to move the robot ..............................................................................44
4.9.1 Connect and enable the joystick controller ......................................................................44
4.9.2 Use the joystick controller .......................................................................................................45
5. Settings.............................................................................................................................46
5.1 Raspberry Pi 3B settings....................................................................................................................46
5.1.1 ROS logs (advanced users)......................................................................................................46
5.1.2 Shutdown the robot...................................................................................................................47
5.2 Software versions .................................................................................................................................47
5.3 Hardware Status ...................................................................................................................................48
5.3.1 Overview.........................................................................................................................................48
5.3.2 Motor connection problem.....................................................................................................49
5.3.3 What to do if you have a hardware problem?.................................................................49
5.4 Debug and logs ....................................................................................................................................50
5.4.1 Overview.........................................................................................................................................50
5.4.2 Debug motors one by one ......................................................................................................51
6. Going further ...................................................................................................................52
