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
  • for RIC : user=ric, pass=ric#### where # is Levi's office #
  • for biomech : user=biomech, pass=biomech### where # is the office number for the group

tools setup

• Install MPLAB IDE Microchip tools [1]
• 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 Python
• Install development support tools (SVN client, win merge, grep, editor, etc.) Dev support
• checkout source code and support scripts from SVN server
• Top level tools
• Install drivers for FTDI CHIP FT2232H [2]

mplab IDE config

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

1. open "MPLAB IDE"
2. Under Configure -> Settings select the "projects" tab
3. 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"

Some programmer settings could also be changed:

• Select Programmer -> settings and then "Program after successful build"

After this works, try to open and compile a workspace/project.

1. From MPLAB IDE, select "File, Open Workspace"
2. Navigate to "trunk/StateController" and open "sc_workspace_mit.mcw" (or similar)
3. Ignore complaint about files having been relocated.
4. after it opens, press "Ctrl F10" to do a "make clean" followed by "make all"

python config

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

• Edit the file "support_scripts\python_paths.py", so that variables point the root of your project tree.
• The root of your project tree the directory that contains the directories "support_scripts" and "pf_python"
• the string "c:\ceb\0svn" is replaced with your root.
• Afterward, copy it 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"
• Verify that python is in the system path by starting a DOS prompt and running python

make a wifi connection

From the support scripts folder run :

• FOR S3 : wifi_fast.py -i 216 -F -f xx -V dataport
• FOR S5 : wifi_fast.py -i 218 -F -f xx -V dataport

dataport

• in the SC file "dataport.c" there is the statement : switch(sc_dp.dataport_select)
  • for each case, there are a number of assignment of robot variables to variables of the form "pf[n]".
  • the special command "157" is used to set the value of the variable "sc_dp.dataport_select"
  • thus the command "do_command.py -i IP_ADDRESS -s 157 1" sets dataport select to 1.