= WAM =

== Documents ==

* Getting Started
  * [[WAM/ThankYou| Thank you]]
  * [[WAM/SystemComponentList| System component list]]
  * [[WAM/HardwareSetup| Hardware setup]]
  * PC Options
    * [[WAM/PC104| Using the Internal WAM PC]]
    * [[WAM/ExternalPC| Using an External WAM PC]]
    * [[BuildingAPC| Build your own WAM PC]]
  * [[WAM/PrimaryDemoWalkthrough| Primary demo walkthrough]]
  * [[Common/Warranty| Warranty and repair policies]]
  * [[Common/SupportResources| Support Resources, Access Code]]
* User Manual
  * [[WAM/DetailedSystemOperation| Detailed system operation]]
  * [[WAM/SafetyFeaturesPrecautions| Safety features & precautions]]
  * Low-level message format
    * [[http://web.barrett.com/support/Puck_Documentation/CAN_Message_Format.pdf| CANbus Specifications]]
    * [[http://web.barrett.com/support/Puck_Documentation/PuckProperties-r179.pdf| WAM Properties List]]
  * [[WAM/KinematicsJointRangesConversionFactors| Kinematics, joint ranges, conversion factors]]
  * [[WAM/Specifications:MotorsMaterialsPower| Specifications: motors, materials, power]]
  * [[WAM/CableTorqueLimits| Specifications: motor torques and cable limits]]
  * [[WAM/UserLines| User Lines]]
  * [[http://web.barrett.com/supportFiles/wikiFiles/B2531Documentation.PDF| WAM Tool Plate Details]]
  * Wiring diagram
  * Mass Properties
    * Statics (mass, center of mass)
    * [[http://web.barrett.com/support/WAM_Documentation/WAM_InertialSpecifications_AC-02.pdf| Dynamics]] (inertial specs)
    * Rotor inertias
* Maintenance Procedures
  * [[WAM/Troubleshooting| Troubleshooting]]
  * [[WAM/Calibration| Calibration]] (position, gravity, friction, dynamics, sensors)
  * [[WAM/Autotensioning| Automated Tensioning]]
  * [[WAM/Tensioning| Manual Tensioning]]
  * [[WAM/CableReplacement| Cable replacement]]
  * [[WAM/PuckReplacement| Puck replacement]]
  * Firmware update
    * [[WAM/FirmwareUpdate| Simple update instructions]]
    * [[WAM/FirmwareUpdate/AutoUpdate| Automatic Firmware Update]]
    * [[WAM/FirmwareUpdate/DetailedPuckInstructions| Detailed Puck Instructions]]
    * [[WAM/FirmwareUpdate/DetailedSafetyBoardInstructions| Detailed Safety Board Instructions]]
  * [[WAM/AutoSetPropertyDefaults| Automated Set WAM's Motor Puck Properties to Defaults]]
  * [[WAM/MotorOffsets| Motor offsets]]
  * [[WAM/CFBackup| Backup CF Card]]
  * [[WAM/CreateCF| Create/Update CF Card]]
  * Configuring a PC
{{{#!comment 
    * [[WAM/InternalPC104Setup| Internal PC/104 setup]]
}}}
    * [[WAM/ExternalPCSetup| External PC setup ]]
  * [[WAM/InternalExternalControl| Switching between internal and external control]]
* Programmer's manual
  * [[http://support.barrett.com/wiki/Libbarrett| Library overview]]
  * [[http://web.barrett.com/svn/libbarrett/trunk/doc/libbarrett_programming_manual.doc| Key concepts]]
  * Example program walkthroughs
  * [[http://web.barrett.com/libbarrett/| Doxygen API documentation]]
  * [[Common/IDE| IDE installation and configuration]]
  * Precompiled binaries
  * [[Libbarrett/Installation|Installers, installation instructions]]
  * Changelog (RSS)
  * ROS
    * [[WAM/InstallROS| Install ROS]]
    * [[WAM/InstallBarrettRosPkg| Barrett-ros-pkg Installation Instructions / Overview]]
  * [[WAM/AltControlSoftware| Alternative methods for WAM control]]

== Downloads ==
Access the [http://www.barrett.com/robot/support.htm file area] by entering your support access code. From there, you will get access to:
	* Video Library
		* Getting started
		* Cable replacement
		* Puck replacement
		* Calibration
	* Software
		* Precompiled binaries
		* [[Libbarrett/Installation|Installers, installation instructions]]
		* Changelog (RSS)