Merge pull request #25 from kmgovind/master

Adding solar rover documentation

Author: kmgovind

docs/documentation_guide/Rover_Wiring_Diagram.jpeg

@@ -0,0 +1,136 @@
+---
+layout: default
+title:  "Solar Rover Setup"
+date:   2022-05-09
+math: katex
+parent: Px4 Robot
+nav_order: 2
+---
+
+# Solar Rover Setup
+
+## Solar rover & components imporant to the Solar Panels 
+
+The Solar-Rover 
+![](./images/Rover_Front.png)
+
+Topside view
+![](./images/Rover_Topside.png)
+
+Components: 
+
+12V Battery with an XT60 connection
+![](./images/Battery.png)
+
+Solar Panels
+![](./images/SolarPanels.png)
+
+MPPT
+![](./images/MPPT.png)
+
+## Current solar panel configuration  
+
+**Distinction between parallel and series connections (solar panels):**
+
+- **Series connection:** Increases the voltage.  
+  - For the rover, this was unnecessary since the battery operates at 12V and each solar panel also has a 12V rating.  
+
+- **Parallel connection:** Increases the current.  
+  - Since the battery’s voltage requirement is already satisfied, the panels must be connected in parallel to provide the necessary current.  
+
+To power the rover’s electronics, especially the motors, all solar panels are wired in **parallel**.  
+
+**Simplified solar-rover wiring diagram:**  
+![](./images/Rover_Wiring_Diagram.png)
+
+## Turning on the Solar-Rover  
+
+
+**Warning:**  
+The battery must be connected to the MPPT *before* the solar panels, otherwise the MPPT could be damaged.  
+
+### Steps:  
+
+1. Connect the battery to the MPPT using the XT60 connectors.  
+2. Connect the solar panels to the MPPT using the XT60 connectors. *(Optional, only if you want to use the panels.)*  
+3. Connect the load (the rover) to the MPPT via the XT60 connector.  
+4. Press the right arrow button on the MPPT to activate discharging/charging.  
+   - The MPPT will display the current drawn from the battery and the current generated by the panels.  
+   - Idle discharge is approximately **0.50 A**.  
+   - While moving at ~1 m/s (on a box), the discharge is approximately **2 A**.  
+5. Once completed, you should see these icons on the MPPT:  
+   - ![](./images/MPPT.png)  
+
+
+## Connect to the solar-rover
+
+Info:
+The solar-rover already has all of the necessary repositories already therefore you will only need to clone groundstation_cps_solar repo on your laptop.
+
+1. Clone the groundsation_cps_solar repository.
+
+```
+git clone https://github.com/dasc-lab/groundstation_cps_solar
+
+```
+2. Connect the Raspberry Pi to an external screen, and connect a keyboard
+
+3. Give the raspberyy-pi inside the rover a few minutes to boot, allowing it to establish an ssh server.
+    -  Once the ssh server is establied, we can remotely control the solar rover via the terminal. 
+
+4. Using the hostname -I command, you can grab the PI's IP and connect to it 
+
+```
+ssh (solar rover IP)
+
+```
+
+6. Once connected, cd into the px4_jumpstart folder inside the PI
+
+
+```
+docker compose build
+
+```
+
+```
+docker compose up -d
+
+```
+
+```
+docer exec -it (tab twice for it to fill with the exec docker file) bash
+
+```
+
+7. Once inside the container, run command to send your pose to the vicon system within the lab 
+
+```
+ros2 launch all_lauch px4.launch.py 
+
+```
+
+## Summary of connect to solar-rover 
+
+(Laptop) Run the docker and launch `gs.launch.py`
+
+```
+$ git clone https://github.com/dasc-lab/groundstation_cps_solar
+$ cd groundstation_cps_solar
+$ docker compose build
+$ docker compose up -d
+$ docker exec -it <Container-name> bash
+$ ros2 launch ground_station_launch gs.launch.py
+
+```
+
+(Raspberry PI)  Run the docker and launch `PX4.launch.py`
+
+```
+$ cd rover_px4_jumpstart_ros2_jumpstart
+$ docker compose build
+$ docker compose up -d
+$ docker exec -it <Container-name> bash
+ros2 launch all_launch px4.launch.py
+
+```