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)

• 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)
  • 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
  • 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
• NOTE: Press Ctrl-C to stop the test at any time
• 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]

NOTE: See FootAndLegTrajectoryTestingProcedure for complete testing details

-- AMcClung? - 15 Apr 2004