Pf ui
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)
- RF : adjust PCI
- IKik : addjust Pff gain by +-5 / +- 1
- YH : exponent adjustment
- UJ : theta_a_thresh (tat) adjustment (~-20)
- sx : ES stiff
- dx : ES damping
- fv : LS stiff
- gb : LS damp
- ED : lsp_exit_check_delay (needs to be ~30)
- <> : tail spring setpoint
- ? : tail spring enable
- TG : mom_thresh_power_on
- WSqs : mom_thresh_power_off
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 stp averaged over the past few stps (tau=4 steps). Smaller values are good - so long as there is enough power. 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 stp 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)
- ! : TSdet enable/disable
screen 4 (sensors)
screen 5 (acoustic mode)
Acoustic mode is a control mode that assisting with the acoustic study on the robot. The basic behavior is to move the robot back/forth with the motor controller voltage mode between two position limits and a adjustable constant speed. The limits are based on the motor encoder. After the motor position passes though a limit, the qVq (motor command voltage) sign is switched, but the actual applied qVq (applied motor voltage) passes though a double exponential filter to avoid jerk. If the motor is stalled, the motor current will increase significantly when operating in voltage mode. Thus extreme care needs to be exercised to avoid impacting the hardstops when qVq is larger than ~2000.
To include acoustic mode ability in the robot, the compile time flag BUILD_WITH_ACOUSTIC needs to be included. In general, for safety, released firmware could should not have it enabled.
The acoustic mode control screen is select with the key '5'. The follow additional key bindings are operational:
- E enable / disable acoustic mode
- qw move low and high limits together (q -> move forward)
- az increase / decrease max/min range of motion (s -> large amplitude)
- sx increase / decrease qVq
- Vmotor = qVq/32768 * supply voltage; when stalled, Imotor (amps) is approximately 4 * Vmotor!!!!
- gb increase / decrease anti-jerk tau
- keep parameter < 1.0. Jerk increases as the parameters approach 1.0.
- hn increase / decrease timeout for automatic sign reversal
- units are 'tics' (2mS). A value of 250 is good.
screen 7 (H2std)
- lower case L and period : wwww_param.wwww_speed_pitch_vel_thresh += (ch == 'l') ? 5 : -5;
- semicolon and slash : wwww_param.wwww_speed_pitch_vel_gain += (ch == ';') ? 0.01 : -0.01;
- good values are -120 for vel_thresh and 0.1 for gain
- sxSX : k2_push
- dcDC : k2 pull
- qwQW : k3 stiff
- hn : nMaxCountLSP2RLX
- jm : RLX exit HS torque
- az : accThresh
screen 8 (blended reflex)
- AZ : fast gain
- SX : fast exponent
- DC : fast pitch vel thresh
- FV : slow gain
- GB : slow exponent
- HN : slow pitch vel thresh
- JM : mapping exponent
- e : cycle through orig/BR/BC (when enabled the normal pff setting and kitchen mode have no effect)
BC mode:
L_ST (BRflx)ms:30 md:3 (C) G/E/Pv:F:206 4.05 255 S: 24 1.95 45 me:1.21 :: pvs:0.005 cF:0.43 cS:0.57 lPV:150 eff_pci:147 ::: Pff F:0.9 S:1.8 t:1.9 Coeff:g:102.83 n:2.86 []
BR mode:
RLXT (BRflx)ms:36 md:0 (E) G/E/Pv:F:200 4.00 250 S: 25 2.00 50 me:1.00 :: pvs:0.005 cF:0.11 cS:0.89 lPV: 72 eff_pci: 92 ::: Pff F:2.1 S:2.6 t:2.5 Coeff:g:102.83 n:2.86 []
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)
