Teleop Setup Guide

Overview

This guide covers the setup and usage of teleoperation for the robot arm using the Mello controller.

For hardware setup, refer to the Mello Hardware Setup Guide. For firmware setup, refer to the Mello Firmware Setup Guide.

Mello Controller Setup

1. Calibrate Mello

1. Place Mello in the calibration position as shown in the images below
2. While holding it in this position, press and hold the red button for a few seconds

Calibration Complete: The ZERO indicator on the screen will turn green when calibration is successful.

2. Stream Joint Positions from Mello

1. Unlock USB permissions:

   sudo chmod 777 /dev/serial/by-id/usb-M5Stack_Technology_Co.__Ltd_M5Stack_UiFlow_2.0_24587ce945900000-if00

2. Start streaming: Double-tap the red button to begin streaming joint positions. The streaming indicator on the screen will turn green.

3. Test the connection:

   python tests/test_mello.py

   You should see joint positions being streamed in real-time.