Merge branch 'master' of https://github.com/DeDiamondPro/AQLARP

documentation/src/SUMMARY.md

@@ -6,14 +6,13 @@
 - [Coordinate System](ch02-01-coordinate-system.md)
 # Building
 - [Required Materials](ch03-01-required-materials.md)
-- [Building](ch04-00-building.md)
-	- [Raspberry Pi Setup](ch04-01-raspberry-pi-setup.md)
-	- [Building The Legs](ch04-02-building-leg.md)
-	- [Building The Main Body](ch04-03-building-body.md)
-- [Installing Software](ch05-01-installing-software.md)
+- [Raspberry Pi Setup](ch04-01-raspberry-pi-setup.md)
+- [Building](ch05-00-building.md)
+	- [Building The Legs](ch05-01-building-leg.md)
+	- [Building The Main Body](ch05-02-building-body.md)
+- [Installing Software](ch06-01-installing-software.md)
 # API
-- [ROS2 topics](ch06-01-ros2-topics.md)
-- [Code Structure](ch07-01-code-structure.md)
+- [ROS2 Topics](ch06-01-ros2-topics.md)
 # Concepts explained
 
 - [Inverse Kinematics](ch08-00-inverse-kinematics.md)

documentation/src/ch05-01-building-leg.md

@@ -0,0 +1,29 @@
+# Building The Legs
+In this chapter we will be building the 4 legs.
+## Required 3D-printed parts per leg:
+- Left legs:
+	- [Leg-Top-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Top-Left.stl)
+	- [Leg-Bottom-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Bottom-Left.stl)
+	- [Leg-Joint-Top-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Top-Left.stl)
+	- [Leg-Joint-Bottom-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Bottom-Left.stl)
+	- [Sock](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Sock.stl) (Print out of TPU, this part is to provide grip)
+- Right legs:
+	-  [Leg-Top-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Top-Right.stl)
+	- [Leg-Bottom-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Bottom-Right.stl)
+	- [Leg-Joint-Top-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Top-Right.stl)
+	- [Leg-Joint-Bottom-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Bottom-Right.stl)
+	- [Sock](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Sock.stl) (Print out of TPU, this part is to provide grip)
+## Assembly
+First, take the top part of the leg and attach the servo in the hole, the gear of the servo should be facing the same way as the hole at the top for the circular servo horn. Then attach the circular servo horn in the top hole using 4 small screws. After doing those 2 steps, it should look something like this.
+![](img/Legs-img1.png)
+Then attach the `Leg-Joint-Top` and `Leg-Joint-Bottom` part together using an M3 screw and a locknut. Don't overtighten it, it should be able to rotate freely. Then attach it to the bottom leg part, after doing that it should look something like this.
+![](img/Legs-img2.png)
+Then connect the top and bottom of the leg together using an M4 screw and a locknut, again don't overtighten it since it should be able to rotate freely. After doing that you should have something like this.
+![](img/Legs-img3.png)
+Then finally you must set the servo to 90 degrees, to do this connect the servo to the servo driver and run the following command on the Raspberry Pi.
+```console
+$ python3 ~/AQLARP/scripts/set90.py
+```
+Then connect the top joint part to the servo and lock them together using an M3 screw.
+
+And that is a completed leg, the rest of the servos will be added when assembling the body since if you attach them now you won't be able to access some parts that you will need to access later.

documentation/src/ch05-02-building-body.md

@@ -0,0 +1,6 @@
+# Building The Main Body
+In this chapter we will go over building the main body
+## Required 3D-printed parts
+- [Main-Body](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Main-Body.stl)
+- [Front-Back-Body](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Front-Back-Body.stl) x2
+- []

documentation/src/ch06-01-ros2-topics.md

@@ -0,0 +1,60 @@
+# Ros2 Topics
+This chapter outlines the various ros2 topics AQLARP has that you can interact with to adapt the robot to your use case.
+
+## Heading topic
+Topic name: `heading`
+
+Package: `aqlarp_main`
+
+Description: with this topic you can specify where the robot should go to and at what speed. The heading parameters will be limited to a circle of radius one and the rotation parameter will be limited between -1 and 1.
+
+Data type: [Heading](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/Heading.msg)
+
+Values:
+- `float32 x_heading`
+- `float32 z_heading`
+- `float32 rotation`
+## Power topic
+Topic name: `power`
+
+Package: `aqlarp_main`
+
+Description: with this topic you can set the power to the servos on or off.
+
+Data type: Boolean
+
+## Gyro topic
+Topic name: `gryo_angles`
+
+Package: `aqlarp_sensors`
+
+Description: all gyro related data is published on this topic, this is published 100 times per second.
+
+Data type: [GyroAngles](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/GyroAngles.msg)
+
+Values:
+- `float32 pitch`
+- `float32 roll`
+- `float32[3] angular_velocity`
+- `float32[3] acceleration`
+
+## Joint angles topic
+Topic name: `joint_angles`
+
+Package: `aqlarp_motors`
+
+Description: with this topic you can specify the angles that all servos should be set to.
+
+Data type: [JointAngles](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/JointAngles.msg)
+
+Values:
+- `float32[12] angles`
+
+## Disable joints topic
+Topic name: `disable_joints`
+
+Package: `aqlarp_motors`
+
+Description: power off all servos
+
+Data type: Empty