Step 1: Mechanism
Pick the YAMS mechanism and the subsystem's Live Tuning command. Changing anything here resets every safety confirmation.
Connect to a robot or simulation, or start the demo, to discover YAMS mechanisms.
Step 2: Pre-motion checklist
Nothing moves until every item is confirmed.
Choose a mechanism and its Live Tuning command first.
Step 3: Check inversions
Confirm position goes up when the mechanism moves in its positive direction. Drive it with a small voltage while enabled. Only needed once during setup.
Choose a mechanism first.
Step 4: Verify range of motion
Drive to each physical end of travel with a small voltage, or enter a range and drive to each end to prove it. A stall or current fault on the way marks that end automatically. Tuning setpoints are then limited to this verified range.
Choose a mechanism first.
Telemetry
Live position, setpoint and current appear here.
Step 5: Live tune
Send setpoints while you adjust gains. Press Space at any time to stop.
Choose a mechanism first.
Gains
Values the robot publishes under /Tuning. Applied when you press Enter or click away; Esc cancels.
Choose a mechanism to edit its gains.