Pf calb table py
From DIDEAS Wiki
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.
example calibration table entry
calb_table_x201['S01'] = {'name' : 'DSPfootParameters_S01_2009_05_01', 'value_list' : [ # motor current sensor offsets (parameters for sine wave 9999.0, 9.9, -9.9, # offset, amplitude , phase 9999.0, 9.9, 9.9, -421.59, -14.17, # pyramid # parameters for the hall sensor 13000.0, -544, -2293, # max plantar,zero,8deg dors for S01 CEB 5-23-09 # poly fit to estimate angle in deg. -0.04, 0.03, # hall segment boundary -7912.4000, -2384.5000, -282.9800, -2.8549, # polys -26904.0000, -287.6500, -93.0930, 0.0227, -1324.7000, 818.5000, -189.2800, 0.7572, # physical spring constants. 623.0, # k3 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' ];