Ric
From DIDEAS Wiki
- pic32 and robot comm links*
- [[1]]
Make PFF adjustment smaller.
Wiki for RIC robot project
Contents
getting started
All software can be open via short cuts in a folder on the desktop.
program for tuning and data collection
- open cmd prompt to "support_scripts" and run "capture <filename>". capture.bat may need to be edited should the COM port # change.
- open matlab, change to c:\mit_ankle\support_scripts" and run "plot_float". Use port# 9999
- make sure the CPU is not loaded -else the serial port will drop data. (char 'S' output) in DOS window
- unlock robot with "F4"
- to start "PWM" hit ALT-F1
- to stop "PWM" hit ALT-F2
reference
- SVN server
- for RIC : user=ric, pass=ric#### where # is Levi's office #
- for biomech : user=biomech, pass=biomech### where # is the office number for the group
tools setup
- Install MPLAB IDE Microchip tools [2]
- Install Microchip C compiler:
- Old versions (not for PIC32): C30 C compiler V2.05 and then license, C compiler V3.12
- for PIC32, install C32 compiler [3]
- Install python 2.5.4 and support modules Python (Python 2.6 or 2.7 also)
- Install development support tools (SVN client, win merge, grep, editor, etc.) Dev support
- checkout source code and support scripts from SVN server
- Top level tools
- Install drivers for FTDI CHIP FT2232H [4]
mplab IDE config
- This IDE can be used to both edit and compile/build/program
To load a PF project, the default settings of the MPLAB IDE need to be changed:
- open "MPLAB IDE"
- Under Configure -> Settings select the "projects" tab
- Uncheck the "use one-to-one project-workspace model"
Some other suggested changes:
- From the "other" tab, select "automatically reload"
- From the "workspace" tab, select "no", "reload last workspace", and "always show full path"
Some programmer settings could also be changedLLLLL9
- Select Programmer -> settings and then "Program after successful build"
After this works, try to open and compile a workspace/project.
- From MPLAB IDE, select "File, Open Workspace"
- Navigate to "trunk/StateController" and open "sc_workspace_mit.mcw" (or similar)
- Ignore complaint about files having been relocated.
- after it opens, press "Ctrl F10" to do a "make clean" followed by "make all"
python config
A file that describes the directory structure of the project needs to be placed in c:\
- Edit the file "support_scripts\python_paths.py", so that variables point the root of your project tree.
- The root of your project tree the directory that contains the directories "support_scripts" and "pf_python"
- the string "c:\ceb\0svn" is replaced with your root.
- Afterward, copy it to c:\
The python interpreter needs to be added to the system path:
- Ctrl click "My Computer" and then select "Properties"
- From the new object, select the "Advanced" tab
- Select "Environment Variables"
- To the "PATH" variable, append "c:\python25;"
- The path variable may exist under "user variable" or "system variables"
- Verify that python is in the system path by starting a DOS prompt and running python
make a wifi connection
From the support scripts folder run :
dataport
- in the SC file "dataport.c" there is the statement : switch(sc_dp.dataport_select)
- for each case, there are a number of assignment of robot variables to variables of the form "pf[n]".
- the special command "157" is used to set the value of the variable "sc_dp.dataport_select"
- thus the command "do_command.py -i IP_ADDRESS -s 157 1" sets dataport select to 1.
Ankle hardware
The two MIT ankles from iWalk are labeled S3 and S5 (white sticker on top of side panel).