Lets go over the steps on getting the code for this program and running it.

First lets open a terminal and git the code that we need:

git clone https://github.com/tim-tindell/ECE-499-590-Fall-2014.git -b TermProject

Now lets jump into that directory:

cd ECE-499-590-Fall-2014

Before we can run the code you will need to plug in your USB to TTL dongle that is also connected to the dynamixels and the power supply. After this is done we will need to change the permissions on the USB device:

sudo chmod 777 /dev/ttyUSB0

Now we can finally run the program type in the console:

python main.py

The program will scan for dynamixels and than will tell you what keys you can press and what they will make the robot do. If you have configured the dynamixels correctly, you now have robotic legs that walk forward, backward, left, and right.