Major update overhaul

website/docs/apps/autoplot_app/README.md

@@ -5,8 +5,8 @@ title: Autoplot App
 
 # Autoplot App Guide
 
-The Autoplot app is an advanced control interface for your Amiga, offering multiple modes of
-operation:
+The Autoplot app is an advanced control interface for your Amiga,
+offering multiple modes of operation:
 
 - **Direct control**: Manually drive the robot with simple controls for straight, turn, and backwards.
 - **Teach-and-repeat**: Manually drive the robot along a desired path, save it, and then command the
@@ -15,90 +15,111 @@ robot to repeat the path autonomously.
 Sn30](https://shop.8bitdo.com/products/8bitdo-sn30-pro-bluetooth-gamepad) joystick.
 
 :::caution Resource Intensive Operation
-The Autoplot app requires significant computational resources when run directly on the robot's screen.
-To ensure optimal performance, it is recommended not to use the Autoplot app in conjunction with the
-recorder or other custom user applications on the brain's display itself.
-However, running the Autoplot app and the recorder app through a web browser on a separate device is
-acceptable and should not impact performance.
+Running the Autoplot app directly on the robot's screen demands considerable computational resources.
+For optimal performance, avoid using the Autoplot app alongside other custom applications on the brain.
+It is recommended to use the Autoplot app and
+any custom applications through a web browser
+on a separate device, as this should not impact performance.
 :::
 
 ## Autonomy Requirements
 
-Before starting any operation, make sure to check the following:
+Before engaging autonomy, ensure to verify:
 
-- [ ] The robot is calibrated through the [**Filter App**](/docs/apps/filter_app).
-- [ ] The GPS antenna offsets are correctly set in the [**Filter App**](/docs/apps/filter_app).
-- [ ] Ensure the robot is connected to an RTK base station for enhanced GPS accuracy.
-- [ ] Set your Amiga to `automode`.
-This is done through the dashboard in the [**automation screen**](https://www.youtube.com/watch?v=PKOhI4hbGUs&t=258s).
+- [ ] Accurate [**IMU Calibration**](/docs/apps/launcher/#imu-calibration).
+- [ ] The correct offsets are set in [**Robot Geometry**](/docs/apps/launcher/#robot-geometry).
+- [ ] [**GPS NTRIP**](/docs/apps/launcher/#gps-ntrip) requirements have been met.
+- [ ] Robot is connected to [**WiFi**](/docs/apps/launcher/#wifi).
+- [ ] Amiga Dashboard is set to [**Auto Control**](/docs/dashboard/dashboard-user-guide#auto-control).
 
 :::tip RTK-GPS Configuration
 For precision in autonomous operations, configuring the RTK-GPS is essential.
-This high-accuracy GPS configuration is critical for tasks that require precise geolocation capabilities.
-
-For detailed information on setting up and configuring RTK-GPS with your Amiga, please refer
-to the [**farm-ng GPS Service Overview**](/docs/concepts/gps_service#Requirements).
+This is critical for tasks that require  precise geo-location capabilities.
+Detailed RTK-GPS information can be found on the
+[**GPS Service**](/docs/concepts/gps_service/) overview page.
 :::
 
 ## How to Use the Autoplot App
 
 ### Teach-and-Repeat
 
-The teach-and-repeat functionality allows you to manually drive the robot along a desired path
-and then have the robot repeat the path autonomously.
+The Amiga's teach-and-repeat functionality allows you to drive the robot along a desired path
+and then repeat the path autonomously.
+The process for doing so is as follows:
 
-#### 1. Click "Record" to start mapping your path
+#### 1. New Path
 
-![Screenshot from 2023-11-08 16-15-51](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/a23646f6-26e3-49c9-b70f-d8faab3ae159)
+Click the **New Path** icon to initiate recording.
 
-#### 2. Drive the robot as desired, blue dots will pop up on the screen indicating the robot's trace
+![new path](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/4e338205-6f07-42a7-8131-5ee6522d597b)
 
-![Screenshot from 2023-11-08 16-20-21](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/13bbbec5-f66f-47a4-b064-8e98be59e43f)
+#### 2. Map your Path
 
-#### 3. Click "Save" and name your track to use it later
+Drive the robot through the desired path and note the blue dots popping up on the screen indicating
+the robot's trace.
 
-![image](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/7be15197-ced2-4f07-aa23-453dff7a0835)
+![recording](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/65c208c2-0685-48b6-ba51-8124747c5e85)
 
-#### 4. Load the track when needed and click "Start Track" to initiate autonomous follow
+If you need to remove points along your recorded track, click the **Pause Path** button followed by
+the **Remove Point** button.
 
-![image](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/72fcf1e5-5152-419b-a74a-78c0ef66b062)
+![remove points](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/22cb8ddf-87c7-4d13-b9d6-6d976b1d120f)
+Each press of the **Remove Point** button will delete a single dot. Deleted points will appear in green.
+Once you have removed the desired points, click on **Resume Recording** to continue mapping your path.
 
-:::info
-After starting to follow the track, the `Start Track` button will switch to `Stop`,
-which can be used to interrupt the autonomous task.
-Additionally, users can press the `○` button on the pendant to disengage `automode`,
-which will automatically cancel the autonomous operation.
+:::tip Removing Points
+Use this feature when you have deviated slightly from the desired course and need to make some corrections.
 :::
 
-### Remote Access via Web Browser
+#### 3. Saving a Path
 
-The Autoplot app is designed as a web-app, enabling seamless access from any standard web browser
-like Google Chrome, Firefox, or Safari.
-To open the Autoplot interface in your browser, simply enter the following address:
+Clicking the **Save** button will prompt you to name your recently recorded track for later use.
 
-```bash
-<your-robot-name>:8008
-```
+![name it](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/e31b3e77-4b94-4119-a0cc-2efd260c0fff)
 
-:::note Remote Control Requirements
-To remotely control your Amiga:
+#### 4. Load Path
 
-- Ensure you are connected to the same network as your Amiga robot.
-- For access across different networks, configure [**cross-network access**](/docs/ssh#recommended-configure-cross-network-access)
-by adding your Amiga to your Tailscale network.
+Clicking the **Load Path** icon enables you to
+ select from any of your previously recorded tracks.
 
-For Tailscale users, access the app using your Amiga's Fully Qualified Domain Name (FQDN):
+![load it](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/deb2daaf-37bf-4a51-9537-1ffcda67464c)
+
+:::tip Auto Control
+In order to repeat a pre-recorded path, you must manually set the Dashboard to
+[**Auto Control**](/docs/dashboard/dashboard-user-guide#auto-control),
+and be sure that all other
+[**Autonomy Requirements**](/docs/apps/autoplot_app/#autonomy-requirements) have been met.
+:::
 
-```bash
-<element-fruit>.<tailnet-name>.ts.net:8008
-```
+![start](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/621eb211-1e2d-4553-a202-fb9e8eac962d)
 
-Replace `<element-fruit>` and `<tailnet-name>` with the respective names configured in your
-Tailscale network.
+Once you have loaded a track the **Start Path** icon will turn black and you will be ready to deploy
+autonomous navigation on your Amiga.
+
+:::info
+After starting to follow the track, the `Start Track` button will switch to `Stop`,
+which can be used to interrupt the autonomous task.
+Additionally, users can press the `○` button on the pendant to disengage `automode`,
+which will automatically cancel the autonomous operation.
 :::
 
-You can control your Amiga from a web browser at any time, even when the Autoplot app is not active
-on the Brain display.
+### Tool Control
+
+This feature allows you to control your connected hardware devices through a browser window.
+The control panel is accessed by clicking on the gear icon located in the upper
+right corner.
+![gearing](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/f09d117f-1026-4036-b2f0-20a557f83c9a)
+
+Our current Firmware release
+[**amiga-dash-v0.5.0**](https://github.com/farm-ng/amiga-dev-kit/releases/tag/amiga-dash-v0.5.0) supports
+up to four H-Bridge devices that can be latched or momentarily controlled.
+They can also be coupled for synchronous operation.
+
+![Screenshot from 2024-05-02 18-05-04](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/ffb45918-ed86-497d-a72b-5892d75053ab)
+
+Up to four PTO Devices are supported and can be remotely selected for operation.
+The control panel gives you directional controls for both H-Bridge and PTO connected devices.
+As an added safety measure you may remotely stop all actively engaged tools.
 
 ## How to Control your Amiga
 
@@ -107,58 +128,45 @@ You can control your Amiga robot in two ways:
 **Manual Control**: Use the [pendant](/docs/pendant),
 the [kartech](https://kar-tech.com/single-axis-joystick-universal-mega-system.html)
 or [dashboard](/docs/dashboard/dashboard-user-guide)
-while physically present with the robot, ideal for teaching the robot new tracks.
+while physically present with the robot,
+ideal for teaching the robot new tracks.
 
-Here are instructions for using the pendant and the kartech as of dashboard firmware
-release [**`v0.0.5`**](https://github.com/farm-ng/amiga-dev-kit/releases):
+Here are instructions for using the pendant
+and the kartech as of dashboard firmware
+release [**amiga-dash-v0.5.0**](https://github.com/farm-ng/amiga-dev-kit/releases/tag/amiga-dash-v0.5.0)
 
 ![pendant](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/4a8fbe60-7780-4f32-b92f-6ce895a706e0)
 ![kartech](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/99aee18e-e7d2-41c5-888b-6d38365c699e)
 
-**Remote Control**: From your web browser, you can remotely operate the robot without needing
+**Remote Control**: From your web browser,
+you can remotely operate the robot without needing
 to be in the same physical location.
-For that, you can use a keyboard for driving your Amiga, or use an
+For that, you can use a keyboard for
+driving your Amiga, or use an
 [8Bitdo Sn30](https://shop.8bitdo.com/products/8bitdo-sn30-pro-bluetooth-gamepad) joystick.
 
 Here are instructions for using both options:
 
 ![keyboard](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/6d81ee6c-6f9b-4395-ab4b-aaaa01b17565)
 ![joystick](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/6bf57701-f241-4855-a675-d174084637b4)
 
-:::info Autonomy Required for Remote Control
-Remote Control requires the robot to be in `automode`.
+:::info Auto Mode Required for Remote Control
+The remote Control operation requires the robot's
+Dashboard be set to [**Auto Control**](/docs/dashboard/dashboard-user-guide#auto-control).
 This mode ensures that all movements are managed safely by the robot's autonomous systems.
 :::
 
 Both methods allow for track recording; however, remote control enables you to operate the
 robot from any location with internet access.
 
 :::tip Teaching Tracks Remotely or On-Site
-Tracks can be taught to the robot whether you're using the on-site pendant or the Remote Keyboard
-Control feature via a web browser.
+Tracks can be taught to the robot by driving it manually with the pendant or the Kar-Tech controller.
+Alternatively, you may use the Keyboard controls or the Game Pad controller via a web browser.
 :::
 
-## Status Bar Icons
-
-The Autoplot app features a status bar with icons that provide critical
-information for autonomous operation:
-
-- **Automode**: This icon confirms if the robot is in automode, a prerequisite for autonomous tasks.
-- **Filter**: This indicates the status of the UKF filter.
-Autonomy will not engage if the filter has not converged.
-- **GPS**: A visual indicator showing if the GPS service is active and functional.
-- **WiFi**: This shows if the robot is connected to Wifi, which is necessary for autonomous operations.
-- **Battery**: Displays the current battery level.
-Always monitor this, especially before starting long tasks.
-
-<div align="center">
-  <img src="https://github.com/farm-ng/amiga-dev-kit/assets/39603677/044304e6-1ae5-4724-845f-da4a9ebe4def"
-  alt="image" />
-</div>
-
 ## Tips for Optimal Autonomy
 
-- Before engaging in autonomous operations, always perform a safety check of the environment.
+- Always perform a safety check of the surrounding environment before engaging in autonomous operations.
 - When operating the robot via remote keyboard control in the web app, ensure a stable and
 responsive network connection.
 - Monitor the robot's battery status via the Autoplot app to avoid interruptions in longer operations.
@@ -167,10 +175,28 @@ responsive network connection.
 
 If you encounter issues with autonomy or control:
 
+![icon bar](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/d69c2611-a3ad-4bb5-9db2-23a77c6a73ec)
+
 - Verify all status indicators in the Autoplot app's top bar are active and showing the expected states.
-- Check the [**Filter App**](/docs/apps/filter_app)
-to confirm that calibration and GPS settings are up-to-date.
-- If the robot does not respond to WAD keyboard commands, ensure that no other tasks are running and
-that the robot is in automode.
+- Confirm that [**IMU Calibration**](/docs/apps/launcher/#imu-calibration) and
+[**GPS NTRIP**](/docs/apps/launcher/#gps-ntrip) settings are set correctly and up-to-date.
+- If the robot does not respond to WASD keyboard commands, ensure that no other tasks are running and
+the robot's Dashboard is set to [**Auto Control**](/docs/dashboard/dashboard-user-guide#auto-control).
+
+![filter error](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/9e6ab78d-dd52-4d86-9688-53b7ee9bff66)
+
+If the filter is not converged, the icon on the navigation bar will be crossed out.
+Click on the icon to visualize error's details.
+
+![gps error](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/c026d6fb-c86e-43d9-b8ca-928bd2ed5515)
+
+If the robot is not receiving GPS messages the icon on the navigation bar will be crossed out.
+Click on the icon to visualize error's details.
+
+![fail](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/9bd8b212-3286-4bac-9e40-2ec86b9ff11d)
+
+Occasionally, track following might fail.
+An error message will appear and the **Start Path** button will switch to **Error-Check status**.
+If you encounter this error message, make sure you Robot meets all the [**Autonomy Requirements**](/docs/apps/autoplot_app/#autonomy-requirements).
 
 For further assistance, reach out to the [support team](mailto:[email protected]).

website/docs/apps/camera_app/README.md

@@ -20,7 +20,8 @@ The app provides a live feed from each connected oak camera, allowing users to s
 camera sees.
 This real-time visualization aids in making informed adjustments to camera settings for optimal
 recording quality.
-![Screenshot from 2023-12-08 11-38-03](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/7c630193-68fb-4916-ae3c-fbfb16c33992)
+
+![main](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/1a146c44-e9f7-40de-ad75-df26a6c2bba7)
 
 ### Camera Configuration
 
@@ -30,33 +31,41 @@ The following settings can be adjusted directly within the app:
 - **Exposure Time (ms)**: Control the duration of each frame's exposure to light.
 - **ISO Value**: Adjust the camera's sensitivity to light.
 - **Lens Position**: Fine-tune the focus of the camera lens to capture sharp images.
+- **Settings Adjustment**: Quick access to camera settings, with sliders for manual adjustments and
+checkboxes for automatic configurations.
+- **Camera Selection**: Tabs for each oak device enable users to switch between different cameras effortlessly.
+
+![settings](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/3da3b23d-8c59-45b8-bbb4-c86b388edd64)
 
-![Screenshot from 2023-12-08 11-43-07](https://github.com/farm-ng/amiga-dev-kit/assets/39603677/e50a1425-9274-4c3b-ba95-e8c18e1a6c4e)
 For convenience, users may also opt for:
 
 - **Auto Exposure**: The camera automatically adjusts the exposure settings for the best image quality.
 - **Auto Focus**: The camera will manage its focus settings to ensure clarity and detail in recorded
 imagery.
 
-### Direct Recording
+:::tip
+Double click anyone of the auto controls to open up their manual configuration settings.
+**Single Log File** allows you to set a maximum file size for log recording.
+:::
 
-Initiate data recording directly from the Camera App with the same efficacy as using the Recorder App.
-This feature is particularly useful for capturing imagery data streams, like RGB, left, right, and
-disparity views, without the need for additional configuration.
+### Direct Recording
 
-:::note
-Recording from the Camera App is equivalent to recording from the Recorder App, however, the Recorder
-App provides additional data streams such as GPS and canbus.
-:::
+**Start/Stop Recording**: Simple controls to begin or end the recording session.
 
-## Streamlined Interface
+![start rec](https://github.com/farm-ng/amiga-dev-kit/assets/133177230/cb1d2d19-aaf5-4091-9d65-b2bf7b6e7499)
 
-The Camera App interface is designed for ease of use:
+To initiate data recording through the Camera App, simply press the **Start Recording** button at
+the upper right corner. The button will switch from green to red and start flashing,
+signaling that the recording is underway.
+This functionality is especially handy for capturing various imagery data
+streams such as RGB, left, right, and disparity views, all without requiring extra configuration.
 
-- **Start/Stop Recording**: Simple controls to begin or end the recording session.
-- **Settings Adjustment**: Quick access to camera settings, with sliders for manual adjustments and
-checkboxes for automatic configurations.
-- **Camera Selection**: Tabs for each oak device enable users to switch between different cameras effortlessly.
+:::tip
+By default, all the topic streams in the [**Recorder**](/docs/apps/launcher/#recorder)
+are captured when you press the **RECORD** button on the navigation bar, or the **Start Recording** button
+on the camera app. You may select individual topics to record from the
+[**Recorder**](/docs/apps/launcher/#recorder) tab.
+:::
 
 With its user-friendly design and comprehensive feature set, the Camera App is an indispensable tool
 for anyone looking to maximize the capabilities of their Amiga robot's camera system.