def calibrate_torque(self):
print 'Procedure for calibrating T2.R2 loadcells. See QA sheet'
print 'Place load cell in unloaded configuration. Hit enter when ready'
raw_input()
self.step()
adc_zero = float(
self.get_sensor_list_avg(['adc_torque'], 1.0)['adc_torque'])
print 'adc_zero', adc_zero
print 'Number of calibration weights [2]?'
nw = m3t.get_int(2)
adc_act = [adc_zero]
load_mNm = [0.0]
for i in range(nw):
print 'Place positive load ', i, '. Hit enter when ready'
raw_input()
self.step()
adc_act.append(
float(
self.get_sensor_list_avg(['adc_torque'],
1.0)['adc_torque']))
print 'adc_act positive', adc_act[-1]
print 'Enter load torque (in-lb)'
w = m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
for i in range(nw):
print 'Place negative load ', i, '. Hit enter when ready'
raw_input()
self.step()
adc_act.append(
float(
self.get_sensor_list_avg(['adc_torque'],
1.0)['adc_torque']))
print 'adc_act positive', adc_act[-1]
print 'Enter load torque (in-lb)'
w = m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
print 'Raw', adc_act
print 'Given', load_mNm
poly, inv_poly = self.get_polyfit_to_data(adc_act, load_mNm, n=1)
self.comp_rt.config['calib']['torque']['cb_torque'] = list(poly)
self.comp_rt.config['calib']['torque']['cb_inv_torque'] = list(
inv_poly)
self.write_raw_calibration({
'log_adc_torque': adc_act,
'log_load_mNm': load_mNm,
'cb_torque': poly,
'cb_inv_torque': inv_poly
})
def run(self): print 'Starting DPM3 thread' start=time.time() while not self.done: self.line=self.ser.readline() try: #With XXXX.X resolution, divide by 10 self.load_mNm = m3u.inLb2mNm(float(self.line)/10.0) # read a '\n' terminated line except ValueError: print 'Bad DPM3 line: ',self.line self.load_mNm=0 print 'Exiting DPM3 thread'
def run(self):
print 'Starting DPM3 thread'
start = time.time()
while not self.done:
self.line = self.ser.readline()
try:
#With XXXX.X resolution, divide by 10
self.load_mNm = m3u.inLb2mNm(
float(self.line) / 10.0) # read a '\n' terminated line
except ValueError:
print 'Bad DPM3 line: ', self.line
self.load_mNm = 0
print 'Exiting DPM3 thread'
def calibrate_torque(self):
print "Procedure for calibrating T2.R2 loadcells. See QA sheet"
print "Place load cell in unloaded configuration. Hit enter when ready"
raw_input()
self.step()
adc_zero = float(self.get_sensor_list_avg(["adc_torque"], 1.0)["adc_torque"])
print "adc_zero", adc_zero
print "Number of calibration weights [2]?"
nw = m3t.get_int(2)
adc_act = [adc_zero]
load_mNm = [0.0]
for i in range(nw):
print "Place positive load ", i, ". Hit enter when ready"
raw_input()
self.step()
adc_act.append(float(self.get_sensor_list_avg(["adc_torque"], 1.0)["adc_torque"]))
print "adc_act positive", adc_act[-1]
print "Enter load torque (in-lb)"
w = m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
for i in range(nw):
print "Place negative load ", i, ". Hit enter when ready"
raw_input()
self.step()
adc_act.append(float(self.get_sensor_list_avg(["adc_torque"], 1.0)["adc_torque"]))
print "adc_act positive", adc_act[-1]
print "Enter load torque (in-lb)"
w = m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
print "Raw", adc_act
print "Given", load_mNm
poly, inv_poly = self.get_polyfit_to_data(adc_act, load_mNm, n=1)
self.comp_rt.config["calib"]["torque"]["cb_torque"] = list(poly)
self.comp_rt.config["calib"]["torque"]["cb_inv_torque"] = list(inv_poly)
self.write_raw_calibration(
{"log_adc_torque": adc_act, "log_load_mNm": load_mNm, "cb_torque": poly, "cb_inv_torque": inv_poly}
)
def calibrate_torque(self):
print 'Procedure for calibrating T2.R3 loadcells. See QA sheet'
print 'Place load cell in unloaded configuration. Hit enter when ready'
raw_input()
self.step()
adc_zero=float(self.get_sensor_list_avg(['adc_torque'],1.0)['adc_torque'])
print 'adc_zero',adc_zero
print 'Number of calibration weights [2]?'
nw=m3t.get_int(2)
adc_act=[adc_zero]
load_mNm=[0.0]
for i in range(nw):
print 'Place positive load ',i,'. Hit enter when ready'
raw_input()
self.step()
adc_act.append(float(self.get_sensor_list_avg(['adc_torque'],1.0)['adc_torque']))
print 'adc_act positive',adc_act[-1]
print 'Enter load torque (in-lb)'
w=m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
for i in range(nw):
print 'Place negative load ',i,'. Hit enter when ready'
raw_input()
self.step()
adc_act.append(float(self.get_sensor_list_avg(['adc_torque'],1.0)['adc_torque']))
print 'adc_act positive',adc_act[-1]
print 'Enter load torque (in-lb)'
w=m3u.inLb2mNm(m3t.get_float())
load_mNm.append(w)
print 'Raw',adc_act
print 'Given',load_mNm
poly,inv_poly=self.get_polyfit_to_data(adc_act,load_mNm,n=1)
self.comp_rt.config['calib']['torque']['cb_torque']=list(poly)
self.comp_rt.config['calib']['torque']['cb_inv_torque']=list(inv_poly)
self.write_raw_calibration({'log_adc_torque':adc_act,'log_load_mNm':load_mNm,
'cb_torque':poly,'cb_inv_torque':inv_poly})
