PF Manual Tuning

How to perform manual tunning on the PowerFoot

1. Initialize [[
2. From wifi_fast.py command window, hit F4 to unlock screens
3. Check nominal torque setting:
   1. Go to sensors screen (enter 3)
   2. Have user hold foot up in the air (level)
   3. Hit Shift C to zero torque
4. If foot is not level, change virtual spring setpoint/offset
   1. S moves backwards (increases angle)
   2. X moves fwd (decreases angle)
   3. Check qIq to insure motor current is still near zero
   4. Enter Shift Z to set the zero position
5. Go to std screen (enter "0")
6. Early stance adjustment
   1. Stiffness tuning
      1. s increases stiffness, x decreases stiffness
   2. Damping
      1. d increases damping, c decreases damping
7. Late Stance adjustment
   1. Stiffness
      1. f increases
      2. v decreases
      3. Note slow walking K needs to be more stiff, fast walking K needs to be less stiff
8. Set Peak Torque
   1. Shift R increases, Shift F decreases
   2. Have the user make some typical steps
   3. Set the PCI value to the users typical torque value (on Matlab plots torque)
9. PFF adjustment
   1. Shift I increases, Shift K decreases
   2. Watch tau pff on Matlab screen
   3. Note, increases very quickly make small increases while walking