Middle High Low High Roll Low Roll Left Low Roll Right

1. Software Setup
a. connect the computer to ROFI with the USB cable
b. load computer remote control program onto ROFIs Arduino Mega
i. use the Arduino IDE to do this
c. open the Robot Poser program
d. select the COM port that ROFI is on from the drop down box on the Setup panel
e. press the button that says Press to connect to robot
i. the button text will change to say Connected to ROFI if the connection was successful
2. Power on the robot
a. make sure that ROFI is plugged into an external power source (otherwise the servos wont have power)
b. make sure that ROFIs servo power switch (on the right body panel) is in the on position
3. Load the calibration template
a. DO NOT press the Set Calibration File button were going to create the calibration by modifying an existing action
b. press the Load Actions button in the Action panel
c. find the file ROFI calibration template.actions
d. turn ROFI upside down and put the robot on its head it will stay in this position during the whole calibration
4. Calibration overview
a. the calibration talks about two types of servos
i. in-line servos : these are the lower leg, middle leg, knee, and upper leg servo for each leg
ii. roll servos : these are the ankle and hip servos on each leg
b. the calibration for each servo is a measurement of the servo 3 positions
i. at the -45 degree position
ii. 0 degree position (centered)
iii. +45 degree position
c. the calibration is just an action file with 6 actions that each have a single frame
i. Middle (this has all servos at the 0 degree position)
ii. High (this has the in-line servos at the 45 degree position)
iii. Low (this has the in-line servos at the -45 degree position)
iv. High roll (this has the roll servos at the 45 degree position)
v. Low roll left (this has the left roll servos at the -45 degree position)
vi. Low roll right (this has the right roll servos at the -45 degree position)
5. Perform the calibration
a. Adjust the Middle action
i. in this action all of the servos should be at the 0 degree position (i.e. ROFIs legs should be pointing up in the air)
ii. left click on the Middle action on the Actions panel (click on the upper left of the Middle action display)
iii. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
iv. use the sliders to adjust each servo until it is actually at the 0 position
v. click the Update Selected Frame button when you are finished (this will record your modifications to the frame)
b. Adjust the High action
i. in this action all of the in-line servos should be at the 45 degree position (i.e. ROFIs legs should be pointing forward)
ii. left click on the High action on the Actions panel (click on the upper left of the High action display)
iii. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
iv. use the sliders to adjust each of the in-line servos until they are actually at the 45 position
v. click the Update Selected Frame button when you are finished
c. Adjust the Low action
i. in this action all of the in-line servos should be at the -45 degree position (i.e. ROFIs legs should be pointing backwards)
ii. left click on the Low action on the Actions panel (click on the upper left of the Low action display)
iii. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
iv. use the sliders to adjust each of the in-line servos until they are actually at the -45 position
v. click the Update Selected Frame button when you are finished
d. Adjust the High roll action
i. in this action all of the roll servos should be at the 45 degree position (i.e. ROFIs will be doing with splits)
ii. left click on the High roll action on the Actions panel (click on the upper left of the High roll action display)
iii. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
iv. use the sliders to adjust each of the roll servos until they are actually at the 45 position
v. click the Update Selected Frame button when you are finished
e. Adjust the Low roll left action
i. in this action all of the left roll servos should be at the -45 degree position (i.e. ROFIs legs will be leaning to the robots right)
ii. left click on the Low roll left action on the Actions panel (click on the upper left of the Low roll left action display)
iii. hold onto ROFI with one hand when it moves to this frame it will topple over without someone holding onto it
iv. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
v. use the sliders to adjust each of the left roll servos until they are actually at the -45 position
vi. click the Update Selected Frame button when you are finished
f. Adjust the Low roll right action
i. in this action all of the right roll servos should be at the -45 degree position (i.e. ROFIs legs will be leaning to the robots left)
ii. left click on the Low roll right action on the Actions panel (click on the upper left of the Low roll right action display)
iii. hold onto ROFI with one hand when it moves to this frame it will topple over without someone holding onto it
iv. click the Move to selected Frame button on the Frames panel (this moves the servos to the correct location)
v. use the sliders to adjust each of the right roll servos until they are actually at the -45 position
vi. click the Update Selected Frame button when you are finished
6. Save Calibration file
a. click the Save Actions button on the Actions panel
b. use the file browser to navigate to the folder where you want to save your calibration
c. pick a name for your calibration such as ROFI calibration1.actions (dont overwrite the template file you might want to create another calibration in the future)
d. click the Save button
7. Use the Calibration
a. close the Robot Poser application
b. disconnect the robot (USB and Power)
c. wait for 5 seconds
d. reconnect the robot
e. put ROFI back on his feet
f. reopen the Robot Poser application
g. select the COM port that ROFI is on from the drop down box on the Setup panel
h. make sure that ROFI is plugged into an external power source (otherwise the servos wont have power)
i. make sure that ROFIs servo power switch (on the right body panel) is in the on position
j. press the button that says Press to connect to robot
i. the button text will change to say Connected to ROFI if the connection was successful
k. press the Set Calibration File button on the Setup panel
i. use the file browser to find your custom calibration file that you just saved
ii. press the open button
iii. the robot should snap to attention as the calibration is applied and stand up straight
l. load a walking action (or you can start creating your own at this point)
i. press the Load Actions button in the Action panel
ii. find the file ROFI static walk.actions file and press the open button
m. play the action back by pressing the Start Action button
i. when you want ROFI to stop press the Stop Action button


To adjust a single servo an existing calibration without going through the whole calibration process again:
1. Open poser
2. Don't set your saved calibration file as the current calibration
3. Load your saved calibration file as the current action
4. Adjust the "actions" within the calibration that pertain to that specific servo. For example if you wanted to adjust the right hip you'd need to modify the Middle, High roll,
and Low roll right actions (be sure to hit the "update frame" button after you adjust each one)
5. Save your calibration action
6. Close poser
7. Open power
8. Set your modified calibration as the active calibration