Foot And Leg Trajectory Manual Test

(Notes on how to use the manually controlled test, for complete testing procedures, see FootAndLegTrajectoryTestingProcedure)

Creating a .RC file (This text file holds all the trajectory settings)

  • TIP Note: RC file generation is NOT automated for the manual test. To set the test variables, you must use vi on the QNX RHex stack to edit manual_test.rc.
  • There are notes on using vi tacked to the climbing wall (04/15/04)

Start the test

  • Go to the directory with the test code on bailorgana
    • This is currently /home/rhex/users/amcclung/ManualControlTest01
  • Switch users to the root user
    • To switch users, use su root or just su and then enter the password, type exit when you're done
  • Place the leg in a reasonable positions (ie. not near its bounds)
  • You may want to edit the control variables to set the gains (see below)
  • Execute the program from the current directory (ie. ./manual_test3)
      • Constant velocity for the crank motor is controlled by the CRANK encoder position
      • Wing position is controlled by the WING encoder position
      • This file reads manual_test.rc for gain values
  • The program PAUSES initially and waits for the user to PRESS a key to activate the encoders
    • If you want to RECORD the encoder inputs and motor positions, the LOGGER can be activated while the program pauses
    • ALERT! NOTE: This will probably require a second person to START/STOP
    • On a Linux machine that has a ROBODEVEL build (ie. THEDARKSIDE or DARTHSIDIUS):
      • Go to ROBODEVEL/RHEX/OPERATOR folder
      • Type ./swri_logger 3000 bailorgana and the logger gui will pop up and try to connect
      • Select Leg_positions and any other variables that you want to monitor
      • Press START to begin recording data
      • Press STOP when done
      • The data is time and robot stamped and placed in the current directory (ie. bailorgana_exp_040412_160945.mat)
      • You can use getstructdata.m to plot the encoder inputs and motor outputs
        • This is located on chewie at users/software/legtestcode/getstructdata.m
  • The program starts with no initial velocity, and the initial position is defined as zero degrees
    • Turn the encoders as desired to get leg trajectories
  • The program sends data triggers and synchronization signals to LabView if force plate data is desired
  • After the variable defined time is reached, the program terminates
  • ALERT! NOTE: Press Ctrl-C to stop the test at any time
  • ALERT! Latest versions: MANUAL_TEST3
    • Additions:

  • Variables :
    • manual_final_time - how long the test routine will last [Units: seconds]
    • manual_k0 - the gain for CRANK encoder to crank motor [Units: ]
    • manual_k3 - the gain for WING encoder to wing motor [Units: ]
    • manual_velMax - the maximum allowable CRANK velocity [Units: rad/s]
    • manual_posMax - the absolute maximum allowable WING positions [Units: degrees]

Code Versions Notes
step versions  
MANUAL_TEST3 First usable working manually controlled test version
Reads manual_test.rc for control gains and timeout
NOTE none yet

ALERT! NOTE: See FootAndLegTrajectoryTestingProcedure for complete testing details

-- AMcClung? - 15 Apr 2004

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