This should only be done as part of the initial system configuration.

Connection

  1. Connect to the TP-Link router via Wifi.
  2. Log in to admin page.
    • Address: 192.168.0.254
    • Username: admin
    • Password: admin

Configuration

  1. Under Working Mode, change to AP and save.
  2. Under Wireless -> Wireless Settings:
    • SSID: FLOORIDATOR_XXXX (Last four digit of MAC Address)
    • Mode: 11n only
  3. Under Wireless -> Wireless Security:
    • Mode: WPA-PSK/WPA2-PSK
    • Version: Automatic
    • Encryption: AES
    • PSK Password: viewpass
    • Group Key Update Period: 86400

New Hardware Instructions

Millipede/Flooridator 2.4 has some new hardware and therefore new info and handling instructions

  1. Batteries. There are now two LiPo batteries on this version.
    A. Batteries can be hot swapped one at a time while at least one battery is connected to the system.
    B. The batteries should be mounted (velcro) such that the wires exit out the rear end of the bot.
    C. Do not remove battery adapter unless swapping battery (even when the bot is off) because the red, male T-connector is still hot due to other battery still being connected (Very dangerous)
  2. Voltage Monitoring
    A. There is a new voltage monitoring method which uses a LiPo Battery Voltage testers. These Voltage testers have been programmed to give an audible warning if any cell drops below 3.5V. Remove from the bot and recharge batteries when any cell in that battery drops below 3.5V.
    B. The digital readout of the voltage testers will show the combined voltage ("ALL") and the individual cell voltages perpetually, while connected to battery.
    C. Connection to digital voltage readout
    • Red On Right - the red wire should be connected to the rightmost pin when viewing the digital side of the monitor
    • A digital voltage tester should be connected to each battery that is in use (connected to bot or charging). Remove voltage tester from batteries that are not being used or charged.
  3. Remove blue wheels for transport. Caution: do not push the shafts inward when attaching/removing wheels. Use Loctite thread locker on hub tightener if wheel hub is coming loose during use.
  4. Main switch is the red button. Push in to turn off all systems. Gently twist to turn on.
  5. Wrap wired connections from tower (camera, fan, Nav lidar, TP-link, laser crosshair) around the tower before connecting in order to reduce loose wires interferring/tangling.
  6. Camera handling - handle camera and camera mount gently so as to not alter the joint angles. Handle camera by 3D printed case. Do not hold by lens or lens cap.
  7. Push Pole - when attaching push pole to bot, back out thumb screw enough to ensure that pole tip is fully engaged in tube. Tighten thumb screw such that it engages on the pole tip at the divit (lowest valley of pole tip). This should ensure that the pole does not slide in or out when in use.
  8. A laser cross hair has been mounted next to the Nav Lidar to provide a visual representation of the Nav Lidar's horizontal scan plane. The Nav Lidar (and the laser crosshair) should be as close to parallel to the floor as possible.
  9. The Wifi (TP-link) & laser crosshair are on same switch on M2 (Millipede 2) because of some loose wiring workaround. To be fixed later.