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Husky A300 AMP and Observer (#390)
* added AMP to /docs_robots/solutions/ * added A300 Observer to /docs_robots/solutions/ * removed A200 Observer from /docs_robots/solutions/ * reduced image sizes * moved content to /components for reuse in multiple pages
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‎README.md

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## How should I write pages?
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1. Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax
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2. Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features
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3. For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file
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4. for advanced users, you may create React pages using _.js_ or _.ts_ file types
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1. Refer to [Markdown's guide](https://www.markdownguide.org/basic-syntax/) for syntax.
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Comments should be added using a `[//]: <>` start to a line.
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HTML commenting—`<!-- -->`—causes issues with the MDX extension in VS Code.
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2. Refer to [Docusaurus's guide](https://docusaurus.io/docs/next/markdown-features) for supported Markdown features.
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3. For advanced users, refer to [Markdown MDX](https://mdxjs.com/) for adding React Components to a Markdown file.
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4. for advanced users, you may create React pages using _.js_ or _.ts_ file types.
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## How should I name files?
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In an `img/` folder next to the markdown files where it will be used.
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6. Files larger than 100 MB
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Files added to GitHub must be smaller than 100 MB—_(at time of writing in 2025-04)_.
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You will be able to commit a large file locally, but the push to GitHub will fail.
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We are storing large files in an Amazon S3 Bucket, rather than the cpr-documentation repository's `/static/assets` directory.
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Note that this means large files will need to be added by Clearpath Robotics staff, as we do not provide public access to this S3 Bucket.
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To add a file:
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* Sign into https://us-east-2.console.aws.amazon.com/s3/ .
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* Navigate to the S3 Bucket `cpr-documentation-large-files `.
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* Select the `Upload` button, and choose your local file.
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* After the file has been uploaded, click on the new object, and copy its `Object URL`.
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This is the public URL to access the file you uploaded.
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Note that this S3 Bucket is configured so all files' permissions are automatically set to public access.
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## How to merge branches into the Production branch?
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The website is built and deployed using AWS Amplify.

‎components/common_in_case_of_collision.mdx

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### In Case Of A Collision
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Your commissioning and operations teams should develop procedures for how to deal with incidents, like a robot hitting a person.
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:::tip Procedure At Clearpath Robotics's Facility
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1. Stop the robot by pressing a red Emergency Stop button on the robot or an equipped attachment.
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2. Is anyone hurt?
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Administer first aid immediately.
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Seek medical attention if necessary.
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3. Document the incident.
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1. Follow workplace injury and accident reporting procedures.
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2. Note the time and place.
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3. Note which robot was involved.
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4. Interview any witnesses.
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5. Take photos or make a drawing.
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4. Assess the state of the robot.
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1. Visually inspect the robot for damage and take photos of any damage found.
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2. If there is no visible damage, observe the robot after it returns to service.
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3. If any irregularities or differences in its behavior are observed, remove the affected robot from service.
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:::

‎components/common_lighting_states_estop_reset_operational.mdx

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<div class="table-container-for-centering">
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<div class="centred-table">
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| Lighting State | Lighting Pattern |
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| :----------------------------------- | :--------------------------------------------------------------------------------------: |
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| Emergency Stop | <img src="/img/robot_images/common_images/lighting_images/stopped.gif" width="100"/> |
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| Needs Reset _(after Emergency Stop)_ | <img src="/img/robot_images/common_images/lighting_images/needs_reset.gif" width="100"/> |
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| Operational _(Driving or Idle)_ | <img src="/img/robot_images/common_images/lighting_images/driving.png" width="100"/> |
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</div>
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</div>

‎components/common_risk_assessment_for_integrations.mdx

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:::safety-danger
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**Always perform a risk assessment prior to any custom integrations.**
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Custom integrations are outside the scope of the robot's safety assessment, as custom integrations may result in new hazards.
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:::
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<br />

‎components/common_software_integration.mdx

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{(props.headingSize == 2) && <h2>Software Integration</h2>}
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{(props.headingSize == 3) && <h3>Software Integration</h3>}
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ROS has a large ecosystem of sensor drivers, some of which include pre-made URDF descriptions and
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even simulation configurations. Refer to [Sensors supported by ROS](http://wiki.ros.org/Sensors).
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For the best experience, consider purchasing supported accessories from Clearpath Robotics for your
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robot, which will include simulation, visualization, and driver support.
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Refer to the following for more details:
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- [Computers](/docs_robots/accessories/computers)
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- [Sensors](/docs_robots/accessories/sensors)
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- [Manipulators](/docs_robots/accessories/manipulators)
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- [Accessories](/docs_robots/accessories/add-ons)

‎components/common_who_can_maintain_the_robot.mdx

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:::safety-danger
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Maintaining robots can be dangerous.
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There are hazards from high energy batteries, sharp edges, joints that can shear, and heavy items that can crush.
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The robot is intended to be maintained by a technician that is familiar with safe work procedures, and has experience using the required tools.
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Technicians must read and understand this manual.
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Technicians must review and understand their worksite's Risk Assessment and required procedures.
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Contact our [Support Team](#support) if you have any questions.
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:::

‎components/common_wireless_emergency_stop_charging.mdx

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### Charging The Wireless Emergency Stop Transmitter
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This transmitter is part of the _Wireless Emergency Stop_ upgrade kit for Husky.
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1. Remove the battery from the _Wireless Emergency Stop Transmitter_.
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2. Connect the charger's AC cable to an outlet at your worksite.
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3. Connect the transmitter's battery to the charger.
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_charger_empty.png"
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width="350"
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/>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_charger_charging.png"
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width="350"
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/>
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<figcaption>Wirelesss Emergency Stop Transmitter's Charger</figcaption>
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</figure>
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</center>
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_1.png"
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width="350"
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/>
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<img
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src="/img/robot_images/common_images/wireless_emergency_stop_transmitter_battery_removal_2.png"
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width="350"
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/>
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<figcaption>Removing the Wirelesss Emergency Stop Transmitter's Battery</figcaption>
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</figure>
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</center>
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:::info
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The robot's spare parts kit included a second battery for the transmitter.
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:::

‎components/common_wireless_joystick_ps4.mdx

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### Connecting And Using The Wireless Joystick {#controller}
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Your robot included a PS4 wireless joystick.
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Clearpath's robot builders paired this wireless joystick with your robot computer's Bluetooth.
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This means the joystick should always connect to that robot, even if there are other robots nearby.
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To connect the joystick to your robot:
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1. Turn on the robot, and wait till the status lights show that ROS is running.
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2. Have the controller within 5 metres of the robot.
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3. Press the _PS_ button in the centre of the joystick.
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4. The joystick's top LED should start pulsing white or blue.
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This means the joystick is attempting to connect.
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5. The joysick's top LED should eventually become solid blue, indicating that it has connected to the robot's computer.
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_joystick_ps4.png"
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width="400"
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/>
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<figcaption>PS4 Wireless Joystick</figcaption>
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</figure>
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</center>
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:::danger Failing To Connect
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The _Wireless Joystick_ is not connected if its LED does not become solid blue.
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Follow the instructions in the [Joystick Controller Pairing](/docs/ros/installation/controller) section to pair the joystick to your robot's primary computer.
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:::
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:::info Driving The Robot
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1. Make sure your worksite is ready to drive the robot, and that the robot will not create hazards for people, animals, or your infrastructure.
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2. Make sure the robot's status lights show that it is ready to drive.
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3. Make sure the _Wireless Joystick_ is connected to the robot.
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4. Hold the joystick's _L1 button_ for slow driving.
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_(You can use the R1 button for fast driving once you are comfortable with the robot's dynamics.)_
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5. Use the left joystick to drive the robot.
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Pushing the joystick forward and backward will command the robot ±X.
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Angling the joystick left and right will command the robot to rotate ±Z.
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:::

‎components/common_wireless_joystick_ps4_charging.mdx

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### Charging The Wireless Joystick
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There is a micro-USB port on the top of the PS4 controller—near its LED.
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A USB cable was included in your robot's spare parts kit.
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Connect the controller to a computer, USB hub, or other 5 V USB charger.
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The controller's LED should glow yellow when it starts charging.
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<center>
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<figure>
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<img
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src="/img/robot_images/common_images/wireless_joystick_charging_ps4.png"
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width="600"
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/>
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</figure>
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</center>
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:::info
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The _Wireless Joystick_ will not send driving commands to the robot while the joystick is charging.
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:::

‎components/husky_a300/husky_a300_additional_emergency_stop_devices.mdx

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import Admonition from "@theme/Admonition";
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### Additional Emergency Stop Devices {#husky_external_stop}
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[//]: <> (TODO, add image of the 8 ES positions on the System Interface circuit board)
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The base Husky A300 includes 2 Emergency Stop Buttons, which are connected to the System Interface circuit board.
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The System Interface circuit board also includes connector breakouts for 6 more Emergency Stop devices, labelled ES3 through ES8.
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The standard Husky A300 has a bypass jumper inserted into each of these unused Emergency Stop breakouts.
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[//]: <> (TODO, add image of a bypass jumper)
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You can use these Emergency Stop breakouts to add more Emergency Stop devices, such as:
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- Emergency Stop buttons
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- Safety lidar
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- Tape switches
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- Limit switches
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- Relays or similar PLC components
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- Manipulator control cabinets
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{((props.robotModel == "AMP") || (props.robotModel == "Observer")) && <Admonition type="info">
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The Husky AMP and Husky Observer use 2 of these additional breakouts to connect more Emergency Stop buttons.
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We discard 2 of the bypass jumpers, and then connect the new Emergency Stop buttons to the System Interface circuit board.
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</Admonition>}
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<Admonition type="note" icon= " " title="Pinout for ES3 - ES8">
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| ES Pin | Function / Value |
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| :----- | :--------------------------------------------------------------------------------------------------- |
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| 1 | Channel 1 Out, _(24 V)_: normally connected to Channel 1 In; disconnect to trigger an emergency stop |
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| 2 | Channel 1 In |
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| 3 | Channel 2 Out _(24 V)_: normally connected to Channel 2 In; disconnect to trigger an emergency stop |
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| 4 | Channel 2 In |
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</Admonition>

‎components/husky_a300/husky_a300_air_filter.mdx

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### Air Filter
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Husky includes four 80 X 80 mm fans to cool the internal electronics.
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The air passes through the Husky's _Front Grille_, then through the _Air Filter_, before reaching the fans.
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:::note
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After cooling the electronics, the air is exhausted through the Husky's _Rear Grille_.
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:::
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<details>
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<summary>To clean or replace the _Air Filter_:</summary>
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<ol>
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<li>
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Remove the _Front Cover_, as described in the section <a href="#removing-the-front-cover">Removing The Front Cover</a>
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_front_cover_4.png"
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width="700"
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/>
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</figure>
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</center>
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</li>
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<li>
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Grab the centre of the filter, and pull the filter out of the robot.
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There is a notch in the metal bracket to give you access.
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_filter_2.png"
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width="700"
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/>
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</figure>
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</center>
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</li>
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<li>
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Clean the filter with water.
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_filter_3.png"
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width="700"
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/>
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</figure>
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</center>
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</li>
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<li>
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Return the filter when dry, or replace it with a new filter.
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The filter should be flush with the bare metal bracket.
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_filter_1.png"
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width="700"
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/>
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</figure>
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</center>
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</li>
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</ol>
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</details>

‎components/husky_a300/husky_a300_air_grilles.mdx

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### Air Grilles
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_grille_1.png"
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width="600"
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/>
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<figcaption>Husky's Front Air Grille, Behind The Bumper</figcaption>
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</figure>
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</center>
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The front and rear _Air Grilles_ prevent large debris from entering the robot.
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<details>
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<summary>To remove the grilles</summary>
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1. Remove the _Bumpers_.
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2. Remove the _Front Cover_ and _Rear Cover_.
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3. Remove 2 screws per grille.
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_grille_2.png"
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width="600"
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/>
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</figure>
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</center>
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4. Remove the grilles.
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_air_grille_3.png"
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width="600"
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/>
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</figure>
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</center>
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:::note
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When reinstalling the grilles:
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* Make sure to include the thin mesh filter on the _Rear Air Grille_
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* Torque the screws to 2 N·m.
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:::
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</details>

‎components/husky_a300/husky_a300_amp_aluminum_extrusions.mdx

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### AMP's Aluminum Extrusions {#aluminum-extrusions}
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There are two aluminum extrusions on the top of the Husky AMP's enclosure.
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The centre of these extrusions are spaced 340 mm apart.
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The extrusions accept Misumi 5 Series T-slot Nuts.
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These are intended as an interface for light components, since the rails are attached with six M3×0.5 screws.
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Here are some of the Misumi T-slot fasteners we use:
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| Clearpath Item | Misumi Item | Description |
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| :------------- | :----------- | :-------------------------------------- |
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| 021464 | HNTASN5-5 | M5×0.8 nut, without retention |
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| 028825 | SHNTP5-5 | M5×0.8 nut, with ball plunger retention |
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| 026955 | SHNTAP5-5 | M5×0.8 nut, with leaf spring retention |
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| 001018 | HATLSN5-4-12 | M5×0.8 stud, without retention |
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<center>
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<figure>
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<img
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src="/img/robot_images/husky_a300_images/husky_a300_amp_t_slot_fasteners.png"
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width="500"
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/>
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<figcaption>T-slot fasteners, in the same order as the table above.</figcaption>
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</figure>
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</center>

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