Pf users
From DIDEAS Wiki
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
architecture
pf_arch_overview ; pf_comm_arch ; Pf_sc_arch ; Pf_mc_arch ; Pf_imu_arch ; Pf_defs ; Pf_insects
Development Environment
- MPLAB IDE > V8.1x
- Microchip C30 compiler > V3.0
- ICD2 or Real-ice programmer connected to PSER1C connected to target board
data collection
SWIFI dataport
- wifi_fast.py -i <ip address or name> [-p <matlab listen port>] -V <variable list filename> -F -f <log file name>
- -i - the IP address of the SWIFI. Typical 192.168.192.xx or "sw8"
- -V specifies the format and names of the packets from the dataport. use : -V imu2.vlist
- -p (optional), default is 9999 - use if multiple plotters running simultaniously. If not 9999, before starting matlab plotter, assign the variable "matlab_listen_port" to some value in the range of 9990 and 9999
- -F (optional) - flush the SWIFI buffer at startup. The buffer could be holding upto ~2 mins of the past data.
- -f the base filename used for logging of the binary packet data, and ASC form of the packets.
- sometimes at power up, SWIFI outputs garbage. The solution is to power cycle the SWIFI until it works.
- this appears to be a baud rate problem - and is being corrected.
matlab
Matlab is used for 'real-time' plotting.
- start matlab
- cd to C:\ceb\0svn\matlab (or the local version of svn://pedant/........./branches/cbarn/matlab)
- optionally set the variable "matlab_listen_port" to something in the 999x range.
- run the program, "plot_float" and bypass the prompts.
init table
known issues
