Exemplo n.º 1
0
 def calibrate_load_cell(self):
     print 'Place sensor in zero load configuration'
     print 'Hit any key to continue'
     raw_input()
     sensors = [
         'adc_load_0', 'adc_load_1', 'adc_load_2', 'adc_load_3',
         'adc_load_4', 'adc_load_5'
     ]
     self.step()
     z = self.get_sensor_list_avg(sensors, 3.0)
     print 'Zero'
     print z
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][0] = float(
         z['adc_load_0'])
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][1] = float(
         z['adc_load_1'])
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][2] = float(
         z['adc_load_2'])
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][3] = float(
         z['adc_load_3'])
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][4] = float(
         z['adc_load_4'])
     self.comp_rt.config['calib']['wrench']['cb_adc_bias'][5] = float(
         z['adc_load_5'])
     m = [500.0, 1000.0, 2000.0]
     log_mN = []
     log_fZ = []
     for g in m:
         print 'Place ', g, '(g) load on sensor in negative Fz direction'
         print 'Hit any key to continue'
         raw_input()
         sensors = [
             'adc_load_0', 'adc_load_1', 'adc_load_2', 'adc_load_3',
             'adc_load_4', 'adc_load_5'
         ]
         self.step()
         z = self.get_sensor_list_avg(sensors, 2.0)
         self.comp_rt.config['calib']['wrench'][
             'cb_scale'] = 1.0  #just determin this and zero
         w = self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
                                   z['adc_load_0'], z['adc_load_1'],
                                   z['adc_load_2'], z['adc_load_3'],
                                   z['adc_load_4'], z['adc_load_5'])
         #print 'Enter weight (g)'
         mN = -1.0 * m3u.g2mN(g)  #m3u.g2mN(m3t.get_float())
         log_mN.append(mN)
         est = w[2]  #current Fz estimation, N
         log_fZ.append(est)
         print 'Measured (g)', m3u.mN2g(mN)
         print 'Estimated (g)', m3u.mN2g(est)
         scale = mN / est
         print 'Scale', scale
     poly, inv_poly = self.get_polyfit_to_data(x=log_fZ, y=log_mN, n=1)
     print 'Estimated scale', poly[0]
     self.comp_rt.config['calib']['wrench']['cb_scale'] = poly[0]
     self.comp_rt.config['calib']['wrench']['cb_bias'] = [0.0] * 6
     w = self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
                               z['adc_load_0'], z['adc_load_1'],
                               z['adc_load_2'], z['adc_load_3'],
                               z['adc_load_4'], z['adc_load_5'])
Exemplo n.º 2
0
 def display_sensors(self):
     M3Calibrate.display_sensors(self)
     w = self.wrench.raw_2_mNm(
         self.comp_rt.config['calib']['wrench'],
         self.comp_ec.status.adc_load_0, self.comp_ec.status.adc_load_1,
         self.comp_ec.status.adc_load_2, self.comp_ec.status.adc_load_3,
         self.comp_ec.status.adc_load_4, self.comp_ec.status.adc_load_5)
     print '--------------Ec--------------------'
     print 0, self.comp_ec.status.adc_load_0
     print 1, self.comp_ec.status.adc_load_1
     print 2, self.comp_ec.status.adc_load_2
     print 3, self.comp_ec.status.adc_load_3
     print 4, self.comp_ec.status.adc_load_4
     print 5, self.comp_ec.status.adc_load_5
     print '--------------Calib-----------------'
     print 'Fx (g)', m3u.mN2g(w[0])
     print 'Fy (g)', m3u.mN2g(w[1])
     print 'Fz (g)', m3u.mN2g(w[2])
     print 'Tx (mNm)', w[3]
     print 'Ty (mNm)', w[4]
     print 'Tz (mNm)', w[5]
     print '---------------Rt-------------------'
     print 'Fx (g)', self.comp_rt.get_Fx_Kg() * 1000.0
     print 'Fy (g)', self.comp_rt.get_Fy_Kg() * 1000.0
     print 'Fz (g)', self.comp_rt.get_Fz_Kg() * 1000.0
     print 'Tx (mNm)', self.comp_rt.get_Tx_mNm()
     print 'Ty (mNm)', self.comp_rt.get_Ty_mNm()
     print 'Tz (mNm)', self.comp_rt.get_Tz_mNm()
Exemplo n.º 3
0
 def zero_load_cell_with_payload(self):
     print 'Place arm with mass pulling straight down on FTS'
     print 'Enter payload mass (g) [834g=H2R2wFTS]'
     payload = m3u.g2mN(m3t.get_float(834))
     sensors = [
         'adc_load_0', 'adc_load_1', 'adc_load_2', 'adc_load_3',
         'adc_load_4', 'adc_load_5'
     ]
     self.step()
     z = self.get_sensor_list_avg(sensors, 3.0)
     print 'Sensor readings: ', z
     w = self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
                               z['adc_load_0'], z['adc_load_1'],
                               z['adc_load_2'], z['adc_load_3'],
                               z['adc_load_4'], z['adc_load_5'])
     print 'Old payload', m3u.mN2g(w[2])
     w[2] = w[2] - payload
     bc = nu.array(self.comp_rt.config['calib']['wrench']['cb_bias'])
     self.comp_rt.config['calib']['wrench']['cb_bias'] = list(bc - w)
     w = self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
                               z['adc_load_0'], z['adc_load_1'],
                               z['adc_load_2'], z['adc_load_3'],
                               z['adc_load_4'], z['adc_load_5'])
     print 'New payload: ', m3u.mN2g(w[2])
     print 'New wrench', w
	def display_sensors(self):
		M3Calibrate.display_sensors(self)
		w=self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
					self.comp_ec.status.adc_load_0,
					self.comp_ec.status.adc_load_1,
					self.comp_ec.status.adc_load_2,
					self.comp_ec.status.adc_load_3,
					self.comp_ec.status.adc_load_4,
					self.comp_ec.status.adc_load_5)
		print '--------------Ec--------------------'
		print 0,self.comp_ec.status.adc_load_0
		print 1,self.comp_ec.status.adc_load_1
		print 2,self.comp_ec.status.adc_load_2
		print 3,self.comp_ec.status.adc_load_3
		print 4,self.comp_ec.status.adc_load_4
		print 5,self.comp_ec.status.adc_load_5
		print '--------------Calib-----------------'
		print 'Fx (g)',m3u.mN2g(w[0])
		print 'Fy (g)',m3u.mN2g(w[1])
		print 'Fz (g)',m3u.mN2g(w[2])
		print 'Tx (mNm)',w[3]
		print 'Ty (mNm)',w[4]
		print 'Tz (mNm)',w[5]
		print '---------------Rt-------------------'
		print 'Fx (g)',self.comp_rt.get_Fx_Kg()*1000.0
		print 'Fy (g)',self.comp_rt.get_Fy_Kg()*1000.0
		print 'Fz (g)',self.comp_rt.get_Fz_Kg()*1000.0
		print 'Tx (mNm)',self.comp_rt.get_Tx_mNm()
		print 'Ty (mNm)',self.comp_rt.get_Ty_mNm()
		print 'Tz (mNm)',self.comp_rt.get_Tz_mNm()
	def zero_load_cell_with_payload(self):
		print 'Place arm with mass pulling straight down on FTS'
		print 'Enter payload mass (g) [834g=H2R2wFTS]'
		payload=m3u.g2mN(m3t.get_float(834))
		sensors=['adc_load_0','adc_load_1','adc_load_2','adc_load_3','adc_load_4','adc_load_5']
		self.step()
		z=self.get_sensor_list_avg(sensors,3.0)
		print 'Sensor readings: ',z
		w=self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
					z['adc_load_0'],
					z['adc_load_1'],
					z['adc_load_2'],
					z['adc_load_3'],
					z['adc_load_4'],
					z['adc_load_5'])
		print 'Old payload',m3u.mN2g(w[2])
		w[2]=w[2]-payload
		bc=nu.array(self.comp_rt.config['calib']['wrench']['cb_bias'])
		self.comp_rt.config['calib']['wrench']['cb_bias']=list(bc-w)
		w=self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
					z['adc_load_0'],
					z['adc_load_1'],
					z['adc_load_2'],
					z['adc_load_3'],
					z['adc_load_4'],
					z['adc_load_5'])
		print 'New payload: ',m3u.mN2g(w[2])
		print 'New wrench',w
	def calibrate_load_cell(self):
		print 'Place sensor in zero load configuration'
		print 'Hit any key to continue'
		raw_input()
		sensors=['adc_load_0','adc_load_1','adc_load_2','adc_load_3','adc_load_4','adc_load_5']
		self.step()
		z=self.get_sensor_list_avg(sensors,3.0)
		print 'Zero'
		print z
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][0]=float(z['adc_load_0'])
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][1]=float(z['adc_load_1'])
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][2]=float(z['adc_load_2'])
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][3]=float(z['adc_load_3'])
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][4]=float(z['adc_load_4'])
		self.comp_rt.config['calib']['wrench']['cb_adc_bias'][5]=float(z['adc_load_5'])
		m=[500.0,1000.0,2000.0]
		log_mN=[]
		log_fZ=[]
		for g in m:
			print 'Place ',g,'(g) load on sensor in negative Fz direction'
			print 'Hit any key to continue'
			raw_input()
			sensors=['adc_load_0','adc_load_1','adc_load_2','adc_load_3','adc_load_4','adc_load_5']
			self.step()
			z=self.get_sensor_list_avg(sensors,2.0)
			self.comp_rt.config['calib']['wrench']['cb_scale']=1.0 #just determin this and zero
			w=self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
						z['adc_load_0'],
						z['adc_load_1'],
						z['adc_load_2'],
						z['adc_load_3'],
						z['adc_load_4'],
						z['adc_load_5'])
			#print 'Enter weight (g)'
			mN=-1.0*m3u.g2mN(g)#m3u.g2mN(m3t.get_float())
			log_mN.append(mN)
			est=w[2] #current Fz estimation, N
			log_fZ.append(est)
			print 'Measured (g)',m3u.mN2g(mN)
			print 'Estimated (g)',m3u.mN2g(est)
			scale=mN/est
			print 'Scale',scale
		poly,inv_poly=self.get_polyfit_to_data(x=log_fZ,y=log_mN,n=1)
		print 'Estimated scale',poly[0]
		self.comp_rt.config['calib']['wrench']['cb_scale']=poly[0]
		self.comp_rt.config['calib']['wrench']['cb_bias']=[0.0]*6
		w=self.wrench.raw_2_mNm(self.comp_rt.config['calib']['wrench'],
					z['adc_load_0'],
					z['adc_load_1'],
					z['adc_load_2'],
					z['adc_load_3'],
					z['adc_load_4'],
					z['adc_load_5'])
Exemplo n.º 7
0
	def display_sensors(self):
		M3CalibrateActuatorEcR1.display_sensors(self)
		q_on=self.comp_ec.status.qei_on
		q_p=self.comp_ec.status.qei_period
		q_r=self.comp_ec.status.qei_rollover
		c=self.theta.raw_2_deg(self.comp_rt.config['calib']['theta'],q_on,q_p,q_r)
		pos=1000.0*math.pi*2*self.comp_j.config['calib']['cb_drive_radius_m']*c/360.0
		print 'Pos:    (mm) : '+'%3.3f'%pos+' Qei On '+'%d'%q_on+' Qei Period '+'%d'%q_p+' Qei Rollover '+'%d'%q_r
		raw=self.comp_ec.status.adc_torque
		c=self.torque.raw_2_mNm(self.comp_rt.config['calib']['torque'],raw)
		mN=c/self.comp_j.config['calib']['cb_drive_radius_m']
		print 'Force:   (g) : '+'%3.2f'%m3u.mN2g(mN)+' (mN): '+'%3.2f'%mN+' (ADC) '+'%d'%raw
	def analyze_torque_hub(self):
		print 'Calibration hub diameter (mm)[70]?'
		ch=m3t.get_float(70)
		while True:
			print 'Add calibration weight'
			print 'Continue [y]?'
			if m3t.get_yes_no('y'):
				for i in range(100):
					self.step(time_sleep=0.1)
					raw=self.comp_ec.status.adc_torque
					c=self.torque.raw_2_mNm(self.comp_rt.config['calib']['torque'],raw)
					c=m3u.mN2g(c/(ch/1000.0))
					print 'Estimated weight (g)',c	
			else:
				break
	def analyze_torque_hub(self):
		print 'Calibration hub diameter (mm)[70]?'
		ch=m3t.get_float(70)
		while True:
			print 'Add calibration weight'
			print 'Continue [y]?'
			if m3t.get_yes_no('y'):
				for i in range(100):
					self.step(time_sleep=0.1)
					raw=self.comp_ec.status.adc_torque
					c=self.torque.raw_2_mNm(self.comp_rt.config['calib']['torque'],raw)
					c=m3u.mN2g(c/(ch/1000.0))
					print 'Estimated weight (g)',c	
			else:
				break
Exemplo n.º 10
0
 def get_force_g(self):
     return m3u.mN2g(self.get_force_mN())
Exemplo n.º 11
0
 def get_force_g(self):
     return m3u.mN2g(self.get_force_mN())