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demodescriptions [2019/10/07 17:31]
jfduval [Find Poles]
demodescriptions [2020/07/10 20:52] (current)
bbaig [High Speed Test]
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   * Current: 1000 mA   * Current: 1000 mA
   * Profile: holds constant current for 10 seconds then ramps it down to zero.   * Profile: holds constant current for 10 seconds then ramps it down to zero.
-  * Gains: kp = 50, ki = 32+  * Gains: ​(Proportional) ​kp = 50, (Integral) ​ki = 32
   * Motor: motor can be left free (it will spin up fast then stabilize) or held in place. Compare the motor current to the requested current.   * Motor: motor can be left free (it will spin up fast then stabilize) or held in place. Compare the motor current to the requested current.
   * What can be changed: you can test with a lower or higher current. We do not recommend going above 1000 mA during benchtop experiments. You can also change the gains.   * What can be changed: you can test with a lower or higher current. We do not recommend going above 1000 mA during benchtop experiments. You can also change the gains.
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   * Profile: holds constant position for 5 seconds   * Profile: holds constant position for 5 seconds
   * User interaction:​ try moving the motor away from its current position   * User interaction:​ try moving the motor away from its current position
-  * Gains: kp = 50, ki = 3+  * Gains: ​(Proportional) ​kp = 50, (Integral) ​ki = 3
   * What can be changed: gains   * What can be changed: gains
  
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   * Position: measures position when the script is launched and uses it as the initial setpoint. Delta is 10000 ticks.   * Position: measures position when the script is launched and uses it as the initial setpoint. Delta is 10000 ticks.
   * Profile: toggles between two positions every second, initial and initial+delta. Does that for 4 seconds.   * Profile: toggles between two positions every second, initial and initial+delta. Does that for 4 seconds.
-  * Gains: kp = 25, ki = 2000+  * Gains: ​(Proportional) ​kp = 25, (Integral) ​ki = 2000
   * What can be changed: gains, timings   * What can be changed: gains, timings
  
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 ===== High Speed Test ===== ===== High Speed Test =====
  
-This script demonstrates sending commands to and reading data from the FlexSEA device at high (0-1000Hz) speeds. By default it does this by sending a sinusoidal control signal to the FlexSEA device and reading sensor data to show the response from the FlexSEA device. If using Python or MATLAB the control signal the response signal from the FlexSEA device are shown on a generated plot.+This script demonstrates sending commands to and reading data from the FlexSEA device at high (0-1000Hz) speeds. By default it does this by sending a sinusoidal control signal to the FlexSEA device and reading sensor data to show the response from the FlexSEA device. If using Python or MATLABthe control signal ​and the response signal from the FlexSEA device are shown on a generated plot.
  
 Default current control experiment (Python): Default current control experiment (Python):
demodescriptions.1570469505.txt.gz ยท Last modified: 2019/10/07 17:31 by jfduval