Latest revision as of 16:01, 17 December 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

potential function

ltf_pf-2009_12_16.m

fname = 'static_test_experiment_log-20091216_1.txt';
s = importdata(fname);

% compute the JR3 DC offset from the first 2 log entries which are +-0.2 amps
dc = (s.data(1,:) + s.data(2,:) )/2;

ndx = 1:length(s.data);   % use full data set
bd_pos = s.data(ndx,1);
current = s.data(ndx,2);
qiq = s.data(ndx,3);
ank_pos = s.data(ndx,4);
lw = s.data(ndx,5);
jr3z = s.data(ndx,8) - dc(8);  % apply DC correction, grab the Fz component
jr3x = s.data(ndx,6) - dc(6);  
jr3y = s.data(ndx,7) - dc(7);  


ndx = find( bd_pos == -11000)
subplot(2,1,1);
plot(jr3z(ndx), ank_pos(ndx)/2048,'.'); grid on
title('Ak motor rotations, vs JR3 force at Bw=-11000, Imot=-9 : 9 amps')
ylabel('Ak motor rotations')
xlabel('JR3z force N')

subplot(2,1,2);
plot(lw(ndx), ank_pos(ndx)/2048,'.'); grid on
title('Ak motor rotations, vs LW force at Bw=-11000, Imot=-9 : 9 amps')
xlabel('LW force N (over 12 hrs)')
ylabel('Ak motor rotations')

ltf_bd_dep-121509.m

fname = 'static_test_experiment_log-121509.txt';
s = importdata(fname);

% compute the JR3 DC offset from the first 2 log entries which are +-0.2 amps
dc = (s.data(1,:) + s.data(2,:) )/2;

ndx = 1:length(s.data);


bd_pos = s.data(ndx,1);
current = s.data(ndx,2);
qiq = s.data(ndx,3);
ank_pos = s.data(ndx,4);
lw = s.data(ndx,5);
jr3z = s.data(ndx,8) - dc(8);  % apply DC correction, grab the Fz component
jr3x = s.data(ndx,6) - dc(6);  
jr3y = s.data(ndx,7) - dc(7);  
whos



% sift the data, find the index positions where the current is a specific value
ndx = find( current == 9.0);
ndx2 = find( current == -9.0);

subplot(2,1,1);
plot( bd_pos(ndx) , [jr3z(ndx), jr3z(ndx2)],'.'); grid on;
legend('+9amps)','-9amps');
title('Dependence of JR3 force on backdrive position (exp 121509)')
ylabel('newtons')
xlabel('back drive motor position');


subplot(2,1,2);
plot( bd_pos(ndx) , [lw(ndx), lw(ndx2)],'.'); grid on;
legend('+9amps)','-9amps');
title('Dependence of LW force on backdrive position (exp 121509)')
ylabel('newtons')
xlabel('back drive motor position');


saveas(gcf, 'force_dependence_on_bd_posion_121509.png')