Benchtest users
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
- benchtest.py facilitates the running of tests and commands for the 217 and 218 boards.
- benchtest.py -h brings up basic command line help.
Test Types
The -t option is used to specify the test type (or command). Either the text name or number may be used. When testing a new board set, start with test 1 and progress upward.
At present, the software does little to identify a failures.
phase
This 'test' places the controller into MODE 2, which is used to set the commutation phase and zero the encoder. After power up (or reset) must have the phase set before it can enter any other modes.
voltage
This test places the controller into MODE 6, which is known a voltage mode. The motor will generally spin a fixed speed, and will excert significant torque to remain at at that speed. The test is open loop and thus is a good first test to verify that the MOSFETs are working.
current
This test places the controller into MODE 3, which is known a current (or torque) mode. It uses the current sensors to adjust the voltage applied to motor to keep the current as desired. The robot operates in this mode.
stress
Not complete.
reset_overload
This command will reset the overload flag. Generally if there is an overload, the program will report it.
set_clock
Uses the PC clock to set the real-time clock on the state controller.
