Revision as of 19:42, 17 October 2009

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

Edit

• LF: Lifefix_users; Ltf_science; lifefix_log ; Loadwasher ; Lifefix;
• TESTS: LF_TEST100; LF_TEST_101; LF_TEST102; LF_TEST_103; LF_TEST_104

safe startup

• make sure copley is 'phased' and that the zero point is set

• power the AK, wait for the high pitch 'beep beep'
  • if a there is a low humm, then likely the commutation failed. The AK will retry. Hand adjust the back drive screw between attempts to help.

• ideally be running the matlab plotter on CB's machine (This has to be running for now. TBF ASAP)

• log on to the linux box as root
• from /root cd to pfcmd (eg cd pfcmd) - this is a soft link to the correct directory
  • /home/cbarn/src/pfcmd_python (local copy of the program)
  • /mnt/ceb_svn_share/pfcmd_python (remote mounted copy of program)

• Test that the app will run (-n 0 = do zero passes)
  • ./run_lifefix.py -i sw8 -c 0 -T 100 -F 1 -E 1 -n 0 -S
  • ideally there will be no error messages and some matlab graphic output will appear
  • if the swifi isn't working an error message will be output and the process stopped.
    • CB : I ran this and didn't work, change serial port is now #2, use -c 2 option

• Run the gentle cycle (-F 1) for 1 pass (-n 1) with 100N of AK output (-T 100):
  • ./run_lifefix.py -i sw8 -c 0 -T 100 -F 1 -E 1 -n 1 -S
  • there should be no python errors, however there will be an envelope error

• Run the full cycle (-F 0) for 1 pass (-n 1) with 100N of AK output (-T 100):
  • ./run_lifefix.py -i sw8 -c 0 -T 100 -F 0 -E 1 -n 1 -S
  • there should be no python errors, however there will be an envelope error
• Run the full cycle (-F 0) for 1 pass (-n 1) with 2000N full thrust (-T 2000):
  • ./run_lifefix.py -i sw8 -c 0 -T 2000 -F 0 -E 1 -n 1 -S
  • there should be no python errors, and no envelope errors.

• proceed with a short run (100 passes) to verify operation
  • ./run_lifefix.py -i sw8 -c 0 -T 2000 -F 0 -E 1 -n 100 -S

stopping

• When the SWIFI is active (-S option), the ESC terminates the program in the correct manner
• If there is so SWIFI, then Ctrl-C must be used. Try to do this in the gab between cycles. This will be corrected ASAP.

issues

• if matlab w/plot_float is not running CB's PC there will be an error
• sometimes the SWIFI outputs garbage upon power up. SWIFI needs to be power cycled to correct.
  • the lifefix program is now testing for valid SWIFI output.

known issues

Pf_insects