- Custom Development
This document describes the features included in the Plan GUI that allow you to work with the Actuator Package. Plan GUI v2.0 is used for all the examples, but Plan 3.0's functionality is the same.
The first time you connect to the actuator package using Plan GUI, you'll want to check basic streaming and control functionalities. You may wish to revisit this section if you ever experience communication issues, particularly if you've programmed custom firmware to the device, or created a custom version of Plan. If you are using Plan 3.0, skip this section and refer to Plan 3.0: Connect & Stream.
For basic functionality first check the following:
If the downward arrow in the slave communication window turns green, this means you are successfully streaming data from the device. If the arrow does not change color, the GUI is not receiving messages from the device. This means either
Assuming data is coming through (while the downward arrow is green), we can view this data using the 2D plot window.
If you are able to see data coming through great! You are successfully streaming data with the ActPack!
Setting up the controller and the gains:
Note: This is valid for all GUI released before October 2019.
Demo: this demo was recorded right after the setup shown above. We use K = 325 and we change B from 0 to 1500 to demonstrate the effect of damping.