Difference between revisions of "Pf calb table py"

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=old=
 
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Calibration tables live in a file called calb_table.py.
 
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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.
 
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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:
 
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== example calibration table entry ==
 
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<pre>
 
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calb_table_x201['S01'] = {'name' : 'DS_S01_2009_05_01',
 
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          'value_list' : [
 
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                    9999.0, 9.9, -9.9,  # motor current offset sin params : offset, amplitude , phase
 
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                    9999.0, 9.9, 9.9,
 
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                    -421.59, -14.17,    # pyramid
 
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                    13000.0, -544, -2293,  # hall sensor max plantar,zero, 8deg dors
 
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                    -0.04, 0.03,  # hall segment boundary (seg a to b, seg b to c)
 
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                    -7912.4000, -2384.5000, -282.9800,  -2.8549,  # hall fit poly seg a
 
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                    -26904.0000, -287.6500, -93.0930,  0.0227,  # seg b
 
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                    -1324.7000, 818.5000, -189.2800,  0.7572,    # seg c
 
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                    623.0,        # k3  nM per radian
 
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                    462.0, 1407,    # series spring
 
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                    ] } ;
 
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</pre>
 
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==names of coefficients in the value list==
 
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<pre>
 
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v_x201_keys=[
 
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    'phase_a_offset, phase_a_amplitude, phase_a_phase',
 
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    'phase_b_offset, phase_b_amplitude, phase_b_phase',
 
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    'pyramid_m','pyramid_b',
 
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    'hall_seg_ab_boundary',    'hall_seg_bc_boundary',
 
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    'hall_max_plantar', 'hall_zero', 'hall_max_dors',
 
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    'hall_poly_fit_seg_a0',  'hall_poly_fit_seg_a1',  'hall_poly_fit_seg_a2',  'hall_poly_fit_seg_a3',
 
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    'hall_poly_fit_seg_b0',  'hall_poly_fit_seg_b1',  'hall_poly_fit_seg_b2',  'hall_poly_fit_seg_b3',
 
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    'hall_poly_fit_seg_c0',  'hall_poly_fit_seg_c1',  'hall_poly_fit_seg_c2',  'hall_poly_fit_seg_c3',
 
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    'k3_const_nmpr',
 
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    'k2_pull_nmpr', 'k2_push_nmpr'
 
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    ];
 
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</pre>
 

Revision as of 20:22, 7 December 2010

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