Ric

Make PFF adjustment smaller.

Wiki for RIC robot project

getting started

All software can be open via short cuts in a folder on the desktop.

program for tuning and data collection

• open cmd prompt to "support_scripts" and run "capture <filename>". capture.bat may need to be edited should the COM port # change.
• open matlab, change to c:\mit_ankle\support_scripts" and run "plot_float". Use port# 9999

• make sure the CPU is not loaded -else the serial port will drop data. (char 'S' output) in DOS window
• unlock robot with "F4"
• to start "PWM" hit ALT-F1
• to stop "PWM" hit ALT-F2

reference

• SVN server user=ric, pass=ric#### where # is Levi's office #

tools setup

• Install MPLAB IDE
• Install Microchip C30 C compiler V2.05 and then license
• Install C compiler V3.12 (use only this version)
• Install python 2.5.4 and support modules
• Install development support tools (win merge, grep, editor, etc.)
• Install SVN client
• checkout source code and support scripts from SVN server
• Tools

mplab IDE config

To load a PF project, the default settings of the MPLAB IDE need to be changed:

1. Under Configure -> Settings select the "projects" tab
2. Uncheck the "use one-to-one project-workspace model"

Some other suggested changes:

• From the "other" tab, select "automatically reload"
• From the "workspace" tab, select "no", "reload last workspace", and "always show full path"

python config

A file that describes the directory structure of the project needs to be placed in c:\

• Download "python_paths.py", edit, and copy to c:\

The python interpreter needs to be added to the system path:

• Ctrl click "My Computer" and then select "Properties"
• From the new object, select the "Advanced" tab
• Select "Environment Variables"
• To the "PATH" variable, append "c:\python25;"
  • The path variable may exist under "user variable" or "system variables"