Foot And Leg Trajectory Step Test

(Notes on how to use the wing step input test, for complete testing procedures, see FootAndLegTrajectoryTestingProcedure)

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

• Note: It may be easier to use vi on the QNX RHex stack to edit step_test.rc, rather than going through the steps below.
• This file should be securly copied to bailorgana, so its easiest to use Matlab on the Linux machines
• Open Matlab and find a copy of the profile generating code
  • The latest versions are stored on chewie at /users/Software/LegTestCode/
  • FourBar_StepVel.m - allows you to select constant velocity and step parameters for the wing and crank motors
    • 1. Enter the velocity in hertz for the leg period
    • 2. Enter the step amplitude for the wing motor
    • 3. Enter the phase offset for the wing step input in seconds
    • 4. Enter the duration of the wing step input in seconds
    • 5. Enter the test duration
    • 6. Save the .RC file
    • The .RC file should be named step_test.rc to be used by the program step_test on the stack
    • Note: The step input is very abrupt and can easily damage something is not used properly
• Copy the .RC file to bailorgana
  • Use the scp command to securely copy the .RC file to bailorgana
    • Usage: scp {filename} {username}@{hostname}:{folder}
    • Eg. scp step_test.rc rhex@bailorgana:users/amcclung/LegTestCode02
    • Edit the script copy2bailorgana.sh to automate the process and copy specific files

Start the test

• Go to the directory with the test code on bailorgana
  • This is currently /home/rhex/users/amcclung/LegTestCode02
• 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
• (For fully automated version) Place the hard stops on the setup for calibration
  • You may want to edit the calibration variables to set your initial position (see below)
• Execute the program from the current directory (ie. ./step_test)
  • STEP_TEST
    • This program gives a constant velocity to the crank motor. The tilt motor is given a step input.
    • This file reads step_test.rc for profile values
• The calibration routine starts instantly and sets the motor to the initial position
  • Once the calibration is finished, the program will PAUSE and wait for user input
• (For fully automated version) Remove the hard stops once the calibration is done
  • If you do not REMOVE the stops, you can damage the leg setup
  • Press any key to continue to START the test, AFTER you remove the stops
• After everything has been initialized (& calibrated) for the test, the progam PAUSES until the user presses a key.
• The test profile is executed (looped) for the length specified by the related .RC file
• NOTE: Press Ctrl-C to stop the test at any time
• Latest versions: STEP_TEST_NOCALIB2, _STEP_TEST_NOCALIB3
  • Additions: Time based step input

• Variables :
  • steptest_final_time - the length of the test [Units: sec]
  • steptest_period - the period for the trajectory [Units: sec]
  • steptest_leg_speed - the velocity of the CRANK [Units: rad/s]
  • steptest_amplitude - the amplitude of the wing step input [Units: deg]
  • [pre-VER 2] steptest_time_offset - the time from the beginning of the period for start of step [Units: sec]
  • [pre-VER 2] steptest_time_duration - the time length of the step [Units: sec]
  • [VER 2+] steptest_crank_angle_in - the CRANK angle where the step should start [Units: deg]
  • [VER 2+] steptest_crank_angle_out - the CRANK angle where the step should end [Units: deg]
  • reset_delay - the pause time after a test before reset [Units: sec]
  • reset_time - the time for the legs to reach the reset [Units: sec]
• Notes :
  • (For Calibration) - The motor voltages must be large enough to rotate the motors, otherwise a stall is instantly detected. 1.0V seems to be a reasonable amount.

NOTE: See FootAndLegTrajectoryTestingProcedure for complete testing details

-- AMcClung? - 06 Apr 2004