updated M1 read me file, and need to finalize M1ROS setup

Author: ywen3

doc/1.GettingStarted/GSM1DemoMachine.md

@@ -0,0 +1,123 @@
+# Hardware Testing - AnkleMotus M1 Ankle Robot
+
+This page introduces the M1DemoMachine and M1ROSDemoMachine, two example CORC apps showing the basic use of the M1 ankle rehabilitation robot.
+
+The M1 is a one DoF admittance based robot developed by Fourier Intelligence:
+
+![ArmMotus M2 with frames](../img/M1_robot.png)
+AnkleMotus M1 and torque control framework.
+
+The state machine code can be found in the folder `src/apps/M1DemoMachine`.
+
+It demonstrates the use of:
+- The different control modes of M1 (position, velocity, or torque)
+- The use of the force measurements
+
+The state machine code can be found in the folder `src/apps/M1ROSDemoMachine`.
+
+It demonstrates the use of:
+- The different control modes of M1 in ROS system (position, velocity, or torque)
+- The use of the force measurements
+
+## Setup instruction
+
+It is assumed that an Ubuntu PC is used and ROS is installed. If this is not the case for you, please visit [here](InstallLinux.md) and [here](InstallROS.md).
+
+If not already installed, install ros_control:
+```bash
+$ sudo apt-get install ros-<melodic or noetic>-ros-control ros-<melodic or noetic>-ros-controllers
+```
+
+Create a catkin workspace if you don't have one yet:
+```bash
+$ mkdir -p ~/catkin_ws/src
+$ cd ~/catkin_ws/
+$ catkin build
+```
+
+Clone CORC and the required packages into your workspace:
+```bash
+$ cd ~/catkin_ws/src
+$ git clone --recurse-submodules https://github.com/UniMelbHumanRoboticsLab/CANOpenRobotController.git
+```
+
+## Build and run M1DemoMachine
+
+Configure the CMakeList.txt, select the M1DemoMachine, and set the flags for using a real robot without ROS support:
+
+```cmake
+#set (STATE_MACHINE_NAME "ExoTestMachine")
+set (STATE_MACHINE_NAME "M1DemoMachine")
+#set (STATE_MACHINE_NAME "M2DemoMachine")
+#set (STATE_MACHINE_NAME "M3DemoMachine")
+#set (STATE_MACHINE_NAME "X2DemoMachine")
+#set (STATE_MACHINE_NAME "LoggingDevice")
+# Comment to use actual hardware, uncomment for a nor robot (virtual) app
+set(NO_ROBOT OFF)
+# ROS Flag. set ON if you want to use ROS. Else, set OFF.
+set(USE_ROS OFF)
+```
+
+Build CORC:
+```bash
+$ cd ~/catkin_ws
+$ catkin build CORC
+$ source devel/setup.bash
+```
+
+Initialize the CAN device (No need to repeat this step, unless you restart your PC):
+
+```bash
+$  cd script
+$  ./initCAN0.sh
+```
+
+Run the compiled executable file:
+```bash
+$ cd ~/catkin_ws
+$ sudo ./build/CORC/M1DemoMachine_APP
+```
+
+Use keyboard to explore different controllers:
+- Key S: start zeroing/calibration
+- Key X: start monitoring torque reading
+- Key A: position, velocity, and torque controller demonstrations
+- Key Q: return to idle state
+
+## Build and run M1ROSDemoMachine (To be tested)
+
+Configure the CMakeList.txt, select the M1DemoMachine, and set the flags for using a real robot without ROS support:
+
+```cmake
+#set (STATE_MACHINE_NAME "ExoTestMachine")
+#set (STATE_MACHINE_NAME "M1DemoMachine")
+#set (STATE_MACHINE_NAME "M2DemoMachine")
+#set (STATE_MACHINE_NAME "M3DemoMachine")
+#set (STATE_MACHINE_NAME "X2DemoMachine")
+set (STATE_MACHINE_NAME "M1ROSDemoMachine")
+#set (STATE_MACHINE_NAME "LoggingDevice")
+# Comment to use actual hardware, uncomment for a nor robot (virtual) app
+set(NO_ROBOT OFF)
+# ROS Flag. set ON if you want to use ROS. Else, set OFF.
+set(USE_ROS ON)
+```
+
+Build CORC:
+```bash
+$ cd ~/catkin_ws
+$ catkin build CORC
+$ source devel/setup.bash
+```
+
+Initialize the CAN device (No need to repeat this step, unless you restart your PC):
+
+```bash
+$  cd script
+$  ./initCAN0.sh
+```
+
+Run the compiled executable file:
+```bash
+$ cd ~/catkin_ws
+$ roslaunch CORC m1_real.launch
+```

doc/img/M1_robot.png

@@ -16,6 +16,7 @@ void IdleState::entry(void) {
             << " PRESS S to start zeroing/calibration" << std::endl
             << " PRESS X to start monitoring state" << std::endl
             << " PRESS A to start demon machines" << std::endl
+            << " PRESS Q to return idle state" << std::endl
             << "========================" << std::endl;
 }