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Darwin Motor Calibration
Once the motor IDs have been set up using Roboplus (Windows), we need to test calibration parameters through Linux or Putty(Windows).
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Open run_dcm.lua in dcm screen Lib folder.
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Uncomment this line under 'for testing' : dcm.actuator.readType[1]=1;--Read ALL --- Save and exit
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Now run run_dcm.lua and you will see various parameter listings, view positon parameters : Head: -1.757813 -44.531250 Larm: 83.496094 24.609375 4.394531 Lleg: 2.343750 1.757813 -9.667969 23.437500 1.757813 3.222656 Rleg: 4.687500 -2.636719 -12.597656 27.539062 -1.171875 2.050781 Rarm: 87.304688 -19.042969 -1.171875 NOTE : This is just to check the response as we change the position of the actuators!
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Then go back to step 1 and comment the same line, save and exit.
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Run run_dcm.lua again and then run test_bias.lua
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In there, you will see a list of keys to press to play around with the actuators. BUT before changing anything, invert the bot and check for alignment. If there is an offset (say in the knee,ankle or hip), choose the appropriate setting (using 1 & 2) and calibrate (using 'i','j','l',','). When all seems well aligned, press 9 to save. You will see the new parameter array : walk.servoBias={0,0,0,0,0,0,0,0,0,-9,0,0}
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This new bias setting has to be update in the code base in Config_OP_Walk.lua. Choose the correct robot ID and add the above bias array to the end. (comment with date and name) --- > Save and exit.
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You can test walk again and see how the motion of the bot is. You can repeat steps 5 to 7 to perfect the bias.
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It is always better to calibrate with the bots battery powered and not ac powered!