Ascento Handling and Transport ============================== Before transporting the Ascento robot, ensure proper handling by using the pre-installed handles. These handles are designed for secure grip and even weight distribution, making it easy and safe to carry the robot. Proper handling minimizes the risk of damage and ensures efficient transport. Single-Person Transport ----------------------- When transporting the Ascento robot by yourself, it is crucial to handle it properly to avoid injury or damage to the robot. The robot should be lifted using the designated handles located on the top of the main body. These handles are specifically designed to help distribute the robot’s weight evenly, allowing you to carry it safely and with greater ease. Ensure that you maintain a stable posture and use both hands to securely grip the handles while lifting. .. **Caption:** *Proper technique for single-person transport of the Ascento robot, highlighting the designated handles.* .. .. image:: images/single_person_carry.png .. :alt: Single-person carrying Ascento .. :align: center .. figure:: media/pictures/ascento_transport_single.jpg :width: 60% :alt: Single-person carrying Ascento :align: center :class: mbsrounded Technique for single-person transport | Two-Person Transport (Recommended) ----------------------------------- For optimal safety and ease, it is recommended that two people transport the Ascento robot. One person should grip the handle on the left side of the robot's main body and simultaneously support the left wheel. Similarly, the other person should hold the handle on the right side of the robot's main body and support the right wheel. This method ensures balanced weight distribution and enhanced stability, making it easier to carry the robot without risking accidental drops. Transporting the robot with two people not only reduces the strain on each individual but also provides better control over the robot's balance and movement. .. **Caption:** *Recommended two-person transport method for the Ascento robot, highlighting the handles and wheels for secure lifting.* .. figure:: media/pictures/ascento_transport_two.jpg :width: 60% :alt: ascento_transport_two_person :align: center :class: mbsrounded Technique for two-person transport | Ascento Powering ON =================== Hardware Setup -------------- .. figure:: media/pictures/ascento_keyslot.jpg :width: 45% :alt: ascento_key :align: center :class: mbsrounded Ascento Key Slot | #. Tilt the robot upward. #. Insert the key into the bottom slot and turn it clockwise to unlock. #. The robot’s flashlights will blink, indicating that the power is on. .. To power on the Ascento robot, begin by inserting the provided key into the slot located on the underside of the robot and turning it clockwise. Once the .. key is turned, the lights on the underside of the robot will blnk, indicating that the startup process has commenced. The robot requires approximately .. one minute to initialize its internal systems. After the initialization is complete the robot's eye lights will turn white. The moment the eye lights are white, the robot is fully operational and ready for use. | Steam Deck Activation --------------------- #. Wait for **1 minute** after powering up. #. Verify that the **Steam Deck** is connected to **Ascento’s 5G WiFi**. #. Click on the **joystick GUI** to initiate communication between the Steam Deck and the Ascento robot. #. Ensure the **Ascento** is positioned flat on the ground. #. Perform **Homing** of the Ascento wheels by pressing **L2 + Right**. *(Required only at first boot or if Ascento’s eyes blink red.)* #. Once homed, press **L2 + Up** to make the robot stand up. .. figure:: media/gifs/ascento_power_on.webp :width: 60% :alt: ascento_power_on :align: center :class: mbsrounded Ascento Powering Off ==================== #. To power off, one person should remain close to **Ascento**. #. Press **Soft E-Stop (L2 + B)**—this will cause the robot’s motors to dampen, allowing it to gently fall to the ground. #. Lock the robot with the key. .. To power off the robot, rotate the key in the counterclockwise direction. The robot's eyes will gradually dim and turn off, signifying that the robot has .. been successfully powered down. Always ensure that the robot's lights are off before removing the key to confirm that the robot is completely turned off .. and no longer operational. Ascento Charging ================ Ascento is designed to be fully weatherproof, with its battery securely integrated inside the robot's body to withstand various environmental conditions. Charging the robot is achieved through a specialized docking station, which provides a convenient and efficient solution for autonomous applications. The docking station features a built-in LED indicator that shows the current charging status of the robot. When the LED is red, it signifies that the robot is in the process of charging. Once the LED turns green, it indicates that the robot is fully charged and ready for deployment. +--------------------------------------------------------+--------------------------------------------------------+ | .. figure:: media/pictures/ascento_charging_red.png | .. figure:: media/pictures/ascento_charging_green.png | | :width: 90% | :width: 90% | | :align: center | :align: center | | :class: mbsrounded | :class: mbsrounded | | | | | LED indicator showing charging in progress | LED indicator showing charging status Complete | +--------------------------------------------------------+--------------------------------------------------------+ .. Ascento Remote Controller .. ========================= .. The Ascento robot can be manually controlled using the provided remote control, which features several buttons with different functionalities. To turn .. on the remote control, press and hold the power button for three seconds until the remote powers up. To turn it off, simply press and hold the power .. button again. .. For the remote control to function properly, a USB dongle must be inserted into the robot’s USB port located on the underside. The remote will not .. operate without this dongle connected to the robot. .. +--------------------------------------------------------+--------------------------------------------------------+ .. | .. figure:: media/pictures/ascento_usb_port.jpg | .. figure:: media/pictures/ascento_usb_dongle.png | .. | :width: 100% | :width: 50% | .. | :align: center | :align: center | .. | :class: mbsrounded | :class: mbsrounded | .. | | | .. | Usb Port | Usb Dongle | .. +--------------------------------------------------------+--------------------------------------------------------+ .. Remote Control Button Functions .. ------------------------------- .. The Ascento robot's remote control is equipped with several buttons, each designed for specific functions. Below is a detailed description of each button .. and its functionality: .. .. figure:: media/pictures/ascento_remote_top.png .. :width: 100% .. :alt: ascento_remote_controls .. :align: center .. :class: mbsrounded .. | .. Soft Stop .. ~~~~~~~~~ .. This is a soft stop switch that can be used to gently stop the robot. .. Position .. ~~~~~~~~ .. * \• **Upwards**: Off .. * \• **Downwards**: On .. E-Stop .. ~~~~~~ .. This is an emergency stop switch, used for immediate and urgent stops. .. Position .. ~~~~~~~~ .. * \• **Upwards**: Off .. * \• **Downwards**: On .. Scroll Wheel (Left Side) .. ~~~~~~~~~~~~~~~~~~~~~~~~ .. This controls the obstacle avoidance feature of the robot. .. * \• **Completely Left**: Obstacle Avoidance Off .. * \• **Completely Right**: Obstacle Avoidance On .. Stand Up Button .. ~~~~~~~~~~~~~~~ .. This button is used to make the robot stand up from a fallen or resting position. .. Ack Error Button .. ~~~~~~~~~~~~~~~~ .. If the robot does not stand up despite being in the correct position and orientation, this button can be used to make the robot stand up while ignoring all errors. .. Gain Switch .. ~~~~~~~~~~~ .. This switch controls the robot's operating speed and has three positions: .. * \• **Up**: Expert control .. * \• **Middle**: Advanced control .. * \• **Down**: Beginner control .. Control Switch .. ~~~~~~~~~~~~~~ .. This switch allows you to toggle between different driving modes. It has three positions: .. * \• **Up**: Remote Control mode .. * \• **Middle**: Auto Pilot mode .. * \• **Down**: Hold a stable position .. .. figure:: media/pictures/ascento_remote_front.png .. :width: 100% .. :alt: ascento_remote_controller .. :align: center .. :class: mbsrounded .. | .. Left Joystick .. ~~~~~~~~~~~~~ .. The left joystick is used for directional control: .. * \• **Forward/Backward**: Moves the robot forward or backward .. * \• **Left/Right**: Steers the robot left or right .. Right Joystick .. ~~~~~~~~~~~~~~ .. The right joystick is used to adjust the robot's height and steer: .. * \• **Up/Down**: Adjusts the height of the robot .. * \• **Left/Right**: Steers the robot .. .. figure:: media/pictures/ascento_remote_bottom.png .. :width: 100% .. :alt: ascento_remote_controller .. :align: center .. :class: mbsrounded .. | Ascento Steam Deck Controller ============================= The Ascento robot can be manually controlled using the Steam Deck controller. To begin, connect the Steam Deck to the Ascento robot’s Wi-Fi. Once connected, use the **Activate Joystick** function to establish communication between the Steam Deck and the robot. Controller Button Functions --------------------------- The Steam Deck controller is equipped with various buttons and two joysticks that allow for precise robot control. Below is a detailed description of the button functions: .. figure:: media/pictures/ascento_steamdeck_controls.png :width: 100% :alt: ascento_steamdeck_controls :align: center :class: mbsrounded | Ascento Basic Operation ======================= +--------------------------------------------------------+--------------------------------------------------------+ | .. figure:: media/gifs/ascento_coming.webp | .. figure:: media/gifs/ascento_going.webp | | :width: 100% | :width: 100% | | :align: center | :align: center | | :class: mbsrounded | :class: mbsrounded | | | | +--------------------------------------------------------+--------------------------------------------------------+ .. important:: Always perform motor homing before initiating the **Standup** command to ensure proper robot alignment. Deadman Switches ---------------- - **L1** - *Deadman Switch Slow*: Enables slow movement when held. - **R1** - *Deadman Switch Fast*: Enables fast movement when held. Movement Controls ----------------- - **L1 + Left Joystick (LJ)** - Move Forward - Move Backward - Move Left - Move Right Lighting and Sensor Functions ----------------------------- - **LJ** - Hazard Light - **RJ** - Flash Light - **Y** - Reactivate Sensors Robot Control Functions ----------------------- - **L2 + Up** - Standup - **L2 + Right** - Homing Wheels - **L2 + Down** - Power Cycle - **L2 + B** - Soft E-Stop Drift Adjustment ---------------- - **R2 + Up** - Increase +x drift - **R2 + Down** - Decrease -x drift Additional Functions -------------------- - **Press (Steam Deck Icon)** - Activate Joystick - **Press (RViz Icon)** - Visualize Robot - **Press (ROS Icon)** - Clean ROS This setup allows for full control of the Ascento robot via the Steam Deck, providing intuitive and efficient maneuvering capabilities.