Lights on the hand
====================

Here is an annotation of the back of the hand's lights:

.. image:: ../img/sh_hand_lights.png
    :width: 100%

On power up, the lights will be in the following state:

==========================     =============       ================    =================================
Item                           Color               Activity            Meaning
==========================     =============       ================    =================================
6V Power (Power LED)           White               On                  Power good
A 5V regulator (Power LED)     White               On                  Power good
D 5V regulator (Power LED)     White               On                  Power good
3.3V Regulator (Power LED)     White               On                  Power good
EC Link Active                 Green               On                  EtherCAT link established
EC Link Error                  Red                 Off                 No EtherCAT link error
Run                            Green               Off                 Hand is in Init state
Error (Application Layer)      Red                 On (during boot)    Verifying ET1200 EEPROM
Error (Application Layer)      Red                 Then off            No EtherCAT packet error
ET1200 chip select             Yellow              On                  PIC32 communicating with ET1200
==========================     =============       ================    =================================

Lights will also appear inside the base, indicating 5v, 6v and 24v (or 28v) supplies. These can only be seen by removing the covers.

When the ROS driver is running you should see the following lights on the Palm:

=============================    =============       ================    ===========================================
Light                            Colour              Activity            Meaning
=============================    =============       ================    ===========================================
Run                              Green               On                  Hand is in Operational state
Transmit (CAN1/2)                Blue                V.fast flicker      Demand values are being sent to the motors
Receive (CAN1/2)                 Blue                V.fast flicker      Motors are sending sensor data
Joint sensor ADC chip select     Yellow              On                  Sensors being sampled
=============================    =============       ================    ===========================================

After killing the driver, the lights will be in a new state:

============================    =============       ================    =================================
Light                           Colour              Activity            Meaning
============================    =============       ================    =================================
Run                             Green               Blinking            Hand is in Pre-Operational state
Transmit (CAN1/2)               Blue                Off                 No messages transmitted on CAN 1/2
Receive (CAN1/2)                Blue                Off                 No messages received on CAN 1/2
Joint sensor ADC chip select    Yellow              Off                 Sensors not being sampled
============================    =============       ================    =================================