Getting Started

EpicallyPowerful assumes a basic familiarity with some concepts like Python, electrical actuation, Linux computers, and inertial sensing. In-depth knowledge is not needed, but it can be helpful to search around for some basic refreshers.

Quickstart

1. Set up your Raspberry Pi or Jetson Orin Nano

2. Install Epically Powerful Python package. In newer versions of Ubuntu, you will likely need some form of (virtual environment).

   $ pip install epicallypowerful
   

3. Set up your actuator’s CAN ID, then connect your actuator to power and the CAN interface on your single-board computer.

4. Run the basic demo script

   $ ep-stream-actuator --id <CAN ID>
   

   Ensure that you can see the position, velocity, and torque data appropriately streaming to the terminal.

5. [Optional] Install MSCL library

   $ ep-install-mscl
   $ ep-stream-microstrain-imu --serial_id <IMU serial ID (last 6 digits)>
   

6. Check out the example controllers and start writing your own!

What Epically Powerful Provides

• Actuator Control

• Inertial Measurement Unit Reading

• Data Recording & Basic Control Loop Structuring

Note

We highly recommend that you read through the setup and tutorial pages relevant to your application before you try to write your code or collect data.