Calb algs

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This calibration has the motor leads open and the "robot" is driven to the zero angle by the calb stand motor.

  • move "robot" from random inital position to the nominal zero angle position
  • allow to settle and record the MILE encoder value
  • repeat several times
  • the average MILE encoder reading is assigned to the above key.


Motor needs to be on the bench (outside of robot), power supply is ~24V

  • Enter mode 2 with moderate voltage (special command 1115 1000 0 2)
  • allow motor to settle and record MILE encoder value
  • move motor slighly and repeat
  • there *should* be two stable position and two clusters of MILE encoder values (separated by 1024)
  • use the smaller of the two numbers for the key