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.
Code Versions |
Notes |
step versions |
|
STEP_TEST |
First working step input version (uses fully automated hard-stop based calibration |
STEP_TEST_NOCALIB |
User places leg against the stops before testing, program moves it to initial position Reads step_test.rc for variables |
STEP_TEST_NOCALIB2 |
Same as VER 1, but step variables given relative to crank angle rather than time Reads step_test_nocalib2.rc for variables |
STEP_TEST_NOCALIB3 |
Same as VER 2, but returns to initial position after test, variable defined reset delay Reads step_test_nocalib3.rc for variables |
NOTE |
none yet |
NOTE: See FootAndLegTrajectoryTestingProcedure for complete testing details
-- AMcClung? - 06 Apr 2004