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
tuning and track study
IT
- 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.
architecture
Pf_users; Pf_ui; Pf_study ; pf_arch_overview ; pf_comm_arch ; Pf_sc_arch ; Pf_mc_arch ; Pf_imu_arch ; Pf_defs ; Pf_insects [1]
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
