Realizing Multiple brachiation on the RicMonk

Forward brachiation

The following steps help in realizing the multiple brachiation motion, in the forward direction, on the RicMonk:

Trajectories stabilized are stored here with respect to the current file
The program to be run for executing multiple brachiaitions in the forward direction is test_multiple_brachiations.py
Ensure that RicMonk is on the ladder, with left arm on the ladder, while right arm and the tail are vertical
Ensure that all the electrical connections are properly made, and that the motors are turned ON using the transmitter
Via terminal, navigate to the folder of the current file (the folder that also contains test_multiple_brachiations.py) on the Raspberry Pi terminal
Open the Makefile and ensure that the python code set to run is test_multiple_brachiations.py.
Ensure that all parameters are properly set.
Keep the safety switch close to you at all times
If the parameters in the Makefile were not set right, the information can also be given in the command line as follows. The following enables RicMonk to perform three (change NBRACH value in command line for more number) multiple brachiation maneuvers (one ZB, followed by two FB) in the backward direction (DIRECTION=-1). It also changes the BUS_NUMBER parameter to 3 instead of 2. (To enable the robot to perform multiple forward brachiation maneuvers, DIRECTION must be set to 1).

make NBRACH=3 BUS_NUMBER=3 DIRECTION=-1

If the robot behaves erratically or unsuccessfully performs a maneuver, immediately switch OFF the motors using the remote safety switch.
Information regarding testing single brachiation maneuvers and other tests are provided in here