Pf study

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tuning and track study

IT

• laptop needs telnet
• configure the "data collection router" to operate from a battery (w/power supply @ 12.5V to keep charged)
• connect laptop, any PCs, and main network to the "data collection router"

• start matlab on laptop. start the application "plot_laptop.m"
• open two command prompt windows.
  • one for SWIFI data collection
  • one for MPD protocol operations
• power robot
  • make sure that laptop can collect data, and make MPD protocol connections

Robot

• SWIFI has single power wire connection to the 3 pin terminal (GND pin will cause dangerous two current path.)
• power robot from power supply, eg make sure its safe to operate
• make radio DATAPORT connection to robot, verify that PFF boots to near zero
• make a MPD protocoll connection to robot, read that run level is as expected.
• decrease VS parameters, to confirm they're adjust able.
• switch to battery power
• increase VS parameters and PFF and do a pole test.