Getting to know the robot:
Tutorial written by Yosser D'Avanzo, 2016.
The Multipurpose Mobile Manipulator is divided into four main sections: the base, the chest, the arms, and the grippers. We will learn how to work with each section throughout this guide.
The chest contains the shoulders, elbows, arms, and up to 5 servos per gripper with ultrasonic range finders. To power it up, use the switches on the back of the chest (left switch for left arm, right switch for right arm, and middle switch for the entire chest). These can be turned on or off at any time. Software code will continue to run regardless of the power state. The Multipurpose Mobile Manipulator is designed to operate with an on-board computer, like a laptop or tablet, placed on top of the robot and connected to an Arduino Mega 2560 via USB serial cable.
The MMM.py file contains Python 2.7 functions for all of the robot’s basic movements and sensory information. Each of the functions have straightforward names and annotations summarizing what they do. For this tutorial, don't worry about the nitty-gritty of these functions; instead just use them as building blocks for bigger and cooler functions!
Please refer to the following links for more information about hardware setup and software setup.