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--- ece4560:piktul:interfacing [2015/02/25 22:23] – external edit 127.0.0.1
+++ ece4560:piktul:interfacing [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 11: / Line 11: @@
 which returns a handle.  An optional setup parameter can be used to specify
 the overall configuration of the manipulator.  If this is not given, then
-default values are used.  The next thing one should do is to tell the
+default values are used.  Let's say that you have calibrted and saved the calibration file under the filename 'pikparms.mat' then using them involves
-manipulator to go to its home position until it finally does so (repeated
+<code matlab>
-attempts may be necessary).  After that, commands will function as intended.
+  pp = load('pikparms.mat');
+  arm = piktul(pp);
+</code>
+or in one step
+<code matlab>
+  arm = piktul(load('pikparms.mat'));
+</code>
+The next thing one should do is to tell the manipulator to go to its sleep position until it finally does so (repeated attempts may be necessary).  After that, commands will function as intended.
 Prior to that, the manipulator circuit board is not initialized and may not
-behave as commanded.
+behave as commanded.  Going to sleep is done by invoking
+<code matlab>
-Going to home is done by invoking,
+  arm.gotoSleep();
+</code>
+Once enabled and sent to sleep (you should see it twitch into place), then you are ready to go home, then start working with the manipulator. Going to home is done by invoking,
 <code matlab>
   arm.gotoHome();
@@ Line 48: / Line 57: @@
 </code>
+---------
+;#;
+[[ece4560:manicontrol | Back ]]
+;#;