Difference between revisions of "Pf calb table py"
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=old= | =old= | ||
Calibration tables live in a file called calb_table.py. | Calibration tables live in a file called calb_table.py. | ||
Revision as of 20:21, 7 December 2010
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old
Calibration tables live in a file called calb_table.py.
The table is formatted as a python dictionary of dictionarys. The first dictionary uses a key equal to the robot code name. Eg "S01", "WB2", etc.
The 2nd dictionary level is has two keys 'name' and 'value_list'. Value list is a list of numbers that represent the calibration coefficients. See the following example:
example calibration table entry
calb_table_x201['S01'] = {'name' : 'DS_S01_2009_05_01',
'value_list' : [
9999.0, 9.9, -9.9, # motor current offset sin params : offset, amplitude , phase
9999.0, 9.9, 9.9,
-421.59, -14.17, # pyramid
13000.0, -544, -2293, # hall sensor max plantar,zero, 8deg dors
-0.04, 0.03, # hall segment boundary (seg a to b, seg b to c)
-7912.4000, -2384.5000, -282.9800, -2.8549, # hall fit poly seg a
-26904.0000, -287.6500, -93.0930, 0.0227, # seg b
-1324.7000, 818.5000, -189.2800, 0.7572, # seg c
623.0, # k3 nM per radian
462.0, 1407, # series spring
] } ;
names of coefficients in the value list
v_x201_keys=[
'phase_a_offset, phase_a_amplitude, phase_a_phase',
'phase_b_offset, phase_b_amplitude, phase_b_phase',
'pyramid_m','pyramid_b',
'hall_seg_ab_boundary', 'hall_seg_bc_boundary',
'hall_max_plantar', 'hall_zero', 'hall_max_dors',
'hall_poly_fit_seg_a0', 'hall_poly_fit_seg_a1', 'hall_poly_fit_seg_a2', 'hall_poly_fit_seg_a3',
'hall_poly_fit_seg_b0', 'hall_poly_fit_seg_b1', 'hall_poly_fit_seg_b2', 'hall_poly_fit_seg_b3',
'hall_poly_fit_seg_c0', 'hall_poly_fit_seg_c1', 'hall_poly_fit_seg_c2', 'hall_poly_fit_seg_c3',
'k3_const_nmpr',
'k2_pull_nmpr', 'k2_push_nmpr'
];
