Difference between revisions of "PF Manual Tuning"
From DIDEAS Wiki
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How to perform manual tunning on the PowerFoot | How to perform manual tunning on the PowerFoot | ||
− | # | + | #[[Pf users|Initialize Telemetry]] |
#From wifi_fast.py command window, hit '''F4''' to unlock screens | #From wifi_fast.py command window, hit '''F4''' to unlock screens | ||
#Check nominal torque setting: | #Check nominal torque setting: |
Revision as of 14:34, 5 November 2009
How to perform manual tunning on the PowerFoot
- Initialize Telemetry
- From wifi_fast.py command window, hit F4 to unlock screens
- Check nominal torque setting:
- Go to sensors screen (enter 3)
- Have user hold foot up in the air (level)
- Hit Shift C to zero torque
- If foot is not level, change virtual spring setpoint/offset
- S moves backwards (increases angle)
- X moves fwd (decreases angle)
- Check qIq to insure motor current is still near zero
- Enter Shift Z to set the zero position
- Go to std screen (enter "0")
- Early stance adjustment
- Stiffness tuning
- s increases stiffness, x decreases stiffness
- Damping
- d increases damping, c decreases damping
- Stiffness tuning
- Late Stance adjustment
- Stiffness
- f increases
- v decreases
- Note slow walking K needs to be more stiff, fast walking K needs to be less stiff
- Stiffness
- Set Peak Torque
- Shift R increases, Shift F decreases
- Have the user make some typical steps
- Set the PCI value to the users typical torque value (on Matlab plots torque)
- PFF adjustment
- Shift I increases, Shift K decreases
- Watch tau pff on Matlab screen
- Note, increases very quickly make small increases while walking