Pf calb table py

• PFCMD : SC MC PFCMD_PY Pf_calb_table_py

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' : 'DSPfootParameters_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'
    ];