Difference between revisions of "Pf ui"
From DIDEAS Wiki
m (→screen 7 (H2std)) |
m (→screen 7 (H2std)) |
||
| Line 41: | Line 41: | ||
=screen 7 (H2std)= | =screen 7 (H2std)= | ||
| − | * | + | *L' and period : walking_param.walk_speed_pitch_vel_thresh += (ch == 'l') ? 5 : -5; |
| − | * | + | *semicolon and slash : walking_param.walk_speed_pitch_vel_gain += (ch == ';') ? 0.01 : -0.01; |
*good values are -120 for vel_thresh and 0.1 for gain | *good values are -120 for vel_thresh and 0.1 for gain | ||
Revision as of 00:44, 16 August 2010
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
Contents
screen 0 (standard)
- IKik : addjust Pff gain by +-5 / +- 1*
data fields
RLXT (STD) E 0.0J MS:36 md:0 dT: 0 VB:24083 STP: 0 AA:+15.81 SK: 10.0 2.5 ES:645.0 5.0 LS:210.0 5.3 PCI:123 JM:1.0 35.0 PFF:64.0 E:3.00 0 TS_SP:-0.25 ENB:1 TC_TAU:50 LSP_D:30 []
- RLXT - the first field is the text string representing the present SM state
- (STD) - the 2nd field reports the present 'screen'
- E 0.0J - the 3rd field reports the energy per step averaged over the past few steps (tau=4 steps). Smaller values where subject gets power is better. Over 40J and the motor will likely overheat.
- MS:36 - the 4th field is the value of the MC statemachine state
- md:0 - the 5th fields is the MC controller mode (0 is shorted leads, 3=torque control, 6=voltage mode)
- dT 0 - IIR filtered motor temperature with tau = 20 steps
- VB:24083 - present supply voltage (mV).
- STP: 0 - the step counter.
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 7 (H2std)
- L' and period : walking_param.walk_speed_pitch_vel_thresh += (ch == 'l') ? 5 : -5;
- semicolon and slash : walking_param.walk_speed_pitch_vel_gain += (ch == ';') ? 0.01 : -0.01;
- good values are -120 for vel_thresh and 0.1 for gain
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
--Ceb 10:38, 13 August 2010 (CDT)
