Difference between revisions of "Calb algs"
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| − | ==key | + | ==key EC30_MILE_AT_ZERO_Axxxx_ANGLE== |
| − | *Motor needs to be on the bench (outside of robot) | + | This calibration has the motor leads open and the "robot" is driven to the zero angle by the calb stand motor. |
| − | *Enter mode 2 | + | * move "robot" from random inital position to the nominal zero angle position |
| − | *allow motor to settle and record MILE | + | * allow to settle and record the MILE encoder value |
| + | * repeat several times | ||
| + | * the average MILE encoder reading is assigned to the above key. | ||
| + | |||
| + | |||
| + | |||
| + | ==key EC30_MILE_AT_ZERO_MOTOR_ANGLE== | ||
| + | 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 | *move motor slighly and repeat | ||
*there *should* be two stable position and two clusters of MILE encoder values (separated by 1024) | *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 | *use the smaller of the two numbers for the key | ||
Latest revision as of 17:39, 5 June 2010
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key EC30_MILE_AT_ZERO_Axxxx_ANGLE
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.
key EC30_MILE_AT_ZERO_MOTOR_ANGLE
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
