Quick Start for Puck
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1) Plug the CAN cable into the puck and into the lower port of the computer's PCI CAN card (not into the motherboard's serial port)
2) Plug the puck power cable into your power supply set at 48 VDC. Red lead is +48V, Black lead is GND, Green lead is Earth.
3) Power on the PC and open a new terminal (Applications->Accessories->Terminal)
4) Type the following commands:
   cd btclient/src/btutil
   ./btutil -e (this will enumerate the pucks found on the CAN bus, there should be one puck listed)
   ./btutil (this will launch the interactive mode of btutil)

5) Use the arrow keys to select "Go to terminal mode"
6) Press <Enter> to choose this option
7) When asked for a property, type "5", <Enter> (this is the STATus property, see the property list in the puck docs on the desktop)
8) When asked for a value, type "2", <Enter> (this will set the STATus to STATUS_READY)

9) Press <Enter> again to send a new Terminal Mode command
10) Type "8", <Enter> (this is the MODE property)
11) Type "2", <Enter> (this sets the MODE to MODE_TORQUE)

12) Use the arrow keys to select "Add property to watchlist"
13) Press <Enter> to choose this option
14) Type "48", <Enter> (this is the motor encoder Position property)
15) Notice that the present encoder position appears near the bottom of the window

16) Use the arrow keys to select "Go to terminal mode"
17) Press <Enter> to choose this option
18) Type "42", <Enter> (this is the commanded Torque)
19) Type "250", <Enter> (this means 250 mA of motor current)
20) Notice the motor start to spin, the position updates on the screen

21) Press <Enter> again to send a new Terminal Mode command
22) Type "42", <Enter> (this is the commanded Torque)
23) Type "0", <Enter> (this stops applying a torque)

24) Press <Enter> again to send a new Terminal Mode command
25) Type "52", <Enter> (this is the commanded Endpoint/target position)
26) Type "0", <Enter> (here we specify position 0, where it started when it was initially powered on- the next command will start the motion)

27) Press <Enter> again to send a new Terminal Mode command
28) Type "8", <Enter> (this is the MODE property again)
29) Type "5", <Enter> (this sets the MODE to MODE_TRAPEZOIDAL, starting a trapezoidal move to the Endpoint position)

30) Press <Enter> again to send a new Terminal Mode command
31) Type "8", <Enter> (this is the MODE property again)
32) Type "0", <Enter> (this sets the MODE to MODE_IDLE, tying the motor phase leads together in preparation for shutdown)

33) Type "x" to exit the btutil application
34) Unplug the puck power cable from your power supply

35) Done!