Difference between revisions of "Pf ui"
From DIDEAS Wiki
m |
m |
||
| Line 4: | Line 4: | ||
=screen 2 (random) = | =screen 2 (random) = | ||
| − | *az : adjust temperature threshold for Pff temperature rescaling (0 to turn off) | + | *az : adjust temperature threshold for Pff temperature rescaling (0 to turn off) (100 to 110 is a good value) |
| − | *sx : adjust temperature threshold to turn off robot | + | *sx : adjust temperature threshold to turn off robot (set 10 higher than above) |
| − | * | + | |
| − | * | + | *DCdc : adjust the k3_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees) |
| − | * | + | *FVfv : adjust the k2_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees) |
| − | * | + | |
| + | *GBgb : relaxed exit hardstop torque for exit to state 5 (by +-10 / 1) | ||
| + | |||
| + | *hn : relaxed exit maximum series torque allowed for pitch velocity exit condition | ||
| + | |||
| + | *jm : adjust pitch velocity threshold (200 is for HH, 300 is a good value) | ||
| + | |||
| + | * IKik : addjust Pff gain by +-5 / +- 1 | ||
| + | *O : (the letter) zero the k2 and k3 bias values | ||
| + | *R : toggle relaxed mode enable | ||
| + | |||
| + | *< > : for experiment - (dis/en)able LS imped commands (to be removed) | ||
=screen 4 (sensors) = | =screen 4 (sensors) = | ||
Revision as of 15:04, 13 August 2010
screen 0 (standard)
screen 2 (random)
- az : adjust temperature threshold for Pff temperature rescaling (0 to turn off) (100 to 110 is a good value)
- sx : adjust temperature threshold to turn off robot (set 10 higher than above)
- DCdc : adjust the k3_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees)
- FVfv : adjust the k2_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees)
- GBgb : relaxed exit hardstop torque for exit to state 5 (by +-10 / 1)
- hn : relaxed exit maximum series torque allowed for pitch velocity exit condition
- jm : adjust pitch velocity threshold (200 is for HH, 300 is a good value)
- IKik : addjust Pff gain by +-5 / +- 1
- O : (the letter) zero the k2 and k3 bias values
- R : toggle relaxed mode enable
- < > : for experiment - (dis/en)able LS imped commands (to be removed)
screen 4 (sensors)
screen 9 (weight)
- q set weight to 100 lbs
- w set weight to 150 lbs
- e set weight to 200 lbs
- r set weight to 250 lbs
- AZ/ az : adjust weight by +-10 lbs / 1 lb
- +- : adjust weight by 0.1 lbs
- S E T to set the PCI, and other torque threshold parameters based on PCI
