def test_wheels_enslavement(self, dcm, mem, zero_pos, test_wheels_dico,
stiff_robot_wheels, test_time,
test_wheels_limit):
"""
Test wheels enslavement.
Error must be lower than a fixed limit (here test_wheels_limit).
"""
# Objects creation
wheel_speed_actuator = test_wheels_dico["wheelActuator"]
wheel_speed_sensor = test_wheels_dico["wheelSensor"]
logger = test_wheels_dico["logger"]
sliding_avg = qha_tools.SlidingAverage(3)
# Flag initialization
logger.flag = True
# Going to initial position
#subdevice.multiple_set(dcm, mem, zero_pos, wait=True)
# Behavior of the tested part
wheel_speed_actuator.trapeze(0.1,
1000.,
2000.,
sens="positive",
second_invert_trapeze=True)
# Timer creation just before test loop
timer = qha_tools.Timer(dcm, 4 * test_time)
# Test loop
while timer.is_time_not_out():
speed_actuator = wheel_speed_actuator.value
speed_sensor = wheel_speed_sensor.value
# Calculating an averaged sensor value on 3 points. The error can
# dynamically be high because of the wheel mechanic.
sliding_avg.point_add(speed_sensor)
speed_sensor_sa = sliding_avg.calc()
error = speed_actuator - speed_sensor
error_sa = speed_actuator - speed_sensor_sa
actuator = wheel_speed_actuator.value
# Logging usefull information
logger.log(("Time", timer.dcm_time() / 1000.),
("Actuator", actuator), ("Sensor", speed_sensor),
("SpeedSA", speed_sensor_sa), ("Error", error),
("ErrorSA", error_sa), ("Eps", test_wheels_limit),
("-Eps", test_wheels_limit * -1.),
("Actuator+Eps", actuator + test_wheels_limit),
("Actuator-Eps", actuator - test_wheels_limit))
# Checking that enslavement is good
if abs(error_sa) > test_wheels_limit:
logger.flag = False
assert logger.flag
def sa_objects():
"""
Returns a dictionnary of sliding average objects with the correct number
of points for each joint.
It reads the test configuration file.
"""
sa_nb_points = qha_tools.read_section(CONFIG_FILE,
"SlidingAverageNbPoints")
dico_object = dict()
for joint, nb_points in sa_nb_points.items():
dico_object[joint] = qha_tools.SlidingAverage(int(nb_points[0]))
return dico_object
def test_joint_current_limitation(self, dcm, mem, parameters, joint,
result_base_folder, rest_pos,
stiffness_off, plot, plot_server):
# logger initialization
log = logging.getLogger('test_joint_current_limitation')
# erasing real time plot
plot_server.curves_erase()
# flags initialization
flag_loop = True # test loop stops when this flag is False
flag_joint = True # giving test result
flag_current_limit_low_exceeded = False
# checking that ALMemory key MinMaxChange Allowed = 1
if int(mem.getData("RobotConfig/Head/MinMaxChangeAllowed")) != 1:
flag_loop = False
log.error("MinMaxChangeAllowed ALMemory key missing")
# test parameters
test_params = parameters
joint_position_actuator = joint.position.actuator
joint_position_sensor = joint.position.sensor
joint_temperature_sensor = joint.temperature
joint_current_sensor = joint.current
slav = qha_tools.SlidingAverage(test_params["sa_nb_points"])
logger = qha_tools.Logger()
# Going to initial position
subdevice.multiple_set(dcm, mem, rest_pos, wait=True)
# unstiffing all the other joints to avoid leg motors overheat
subdevice.multiple_set(dcm, mem, stiffness_off, wait=False)
time.sleep(0.1)
# stiffing the joint we want to test
joint.hardness.qqvalue = 1.0
# keeping initial joint min and max
joint_initial_maximum = joint_position_actuator.maximum
joint_initial_minimum = joint_position_actuator.minimum
# put joint to its initial maximum in 3 seconds
if joint_position_actuator.short_name in\
("HipPitch", "RShoulderRoll", "RElbowRoll"):
joint_position_actuator.qvalue = (joint_initial_minimum, 3000)
else:
joint_position_actuator.qvalue = (joint_initial_maximum, 3000)
qha_tools.wait(dcm, 3000)
# setting current limitations
joint_max_current = joint_current_sensor.maximum
joint_min_current = joint_current_sensor.minimum
delta_current = joint_max_current - joint_min_current
k_sup = test_params["limit_factor_sup"]
k_inf = test_params["limit_factor_inf"]
current_limit_high = joint_max_current + k_sup * delta_current
current_limit_low = joint_max_current - k_inf * delta_current
# setting temperature limitatons
joint_temperature_min = joint_temperature_sensor.minimum
# setting new min and max out of the mechanical stop
joint_new_maximum = \
joint_initial_maximum + \
math.radians(test_params["limit_extension"])
joint_new_minimum = \
joint_initial_minimum - \
math.radians(test_params["limit_extension"])
joint_position_actuator.maximum = [[[
joint_new_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_new_minimum, dcm.getTime(0)
]], "Merge"]
if joint_position_actuator.short_name in\
("HipPitch", "RShoulderRoll", "RElbowRoll"):
joint_position_actuator.qvalue = (joint_new_minimum, 1000)
else:
joint_position_actuator.qvalue = (joint_new_maximum, 1000)
timer = qha_tools.Timer(dcm, test_params["test_time"])
timer_limit = qha_tools.Timer(dcm, test_params["test_time_limit"])
# test loop
while flag_loop and timer.is_time_not_out():
try:
loop_time = timer.dcm_time() / 1000.
joint_temperature = joint_temperature_sensor.value
joint_current = joint_current_sensor.value
slav.point_add(joint_current)
joint_current_sa = slav.calc()
if not flag_current_limit_low_exceeded and\
joint_current_sa > current_limit_low:
flag_current_limit_low_exceeded = True
log.info("Current limit low exceeded")
if joint_current_sa > current_limit_high:
flag_joint = False
log.warning("Current limit high overshoot")
if flag_current_limit_low_exceeded and\
joint_current_sa < current_limit_low:
flag_joint = False
log.warning("Current lower than current limit low")
if timer_limit.is_time_out() and not \
flag_current_limit_low_exceeded:
flag_joint = False
log.info("Timer limit finished and "+\
"current limit low not exceeded")
# out of test loop if temperature is higher than min temperature
if joint_temperature >= joint_temperature_min:
flag_loop = False
log.info("Temperature higher than Min temperature")
log.info("Test finished")
logger.log(("Time", timer.dcm_time() / 1000.),
("Current", joint_current),
("CurrentSA", joint_current_sa),
("CurrentLimitHigh", current_limit_high),
("CurrentLimitLow", current_limit_low),
("MaxAllowedCurrent", joint_max_current),
("Temperature", joint_temperature),
("TemperatureMin", joint_temperature_min),
("Command", joint_position_actuator.value),
("Position", joint_position_sensor.value))
if plot:
plot_server.add_point("Current", loop_time, joint_current)
plot_server.add_point("CurrentSA", loop_time,
joint_current_sa)
plot_server.add_point("CurrentLimitHigh", loop_time,
current_limit_high)
plot_server.add_point("CurrentLimitLow", loop_time,
current_limit_low)
plot_server.add_point("MaxAllowedCurrent", loop_time,
joint_max_current)
plot_server.add_point("Temperature", loop_time,
joint_temperature)
plot_server.add_point("TemperatureMin", loop_time,
joint_temperature_min)
except KeyboardInterrupt:
flag_loop = False # out of test loop
log.info("KeyboardInterrupt from user")
log.info("OUT OF TEST LOOP")
result_file_path = "/".join([
result_base_folder, joint_position_actuator.subdevice_type,
joint_position_actuator.short_name + "_" + str(flag_joint)
]) + ".csv"
logger.log_file_write(result_file_path)
joint_position_actuator.maximum = [[[
joint_initial_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_initial_minimum, dcm.getTime(0)
]], "Merge"]
plot_server.curves_erase()
assert flag_joint
assert flag_current_limit_low_exceeded
def test_wheel_temperature_protection(self, dcm, parameters, wheel,
result_base_folder):
# logger initialization
log = logging.getLogger('MOTOR_LIMITATION_PERF_HW_002_Wheels')
# flags initialization
flag_wheel = True
flag_loop = True
flag_max_current_exceeded = False
flag_max_temperature_exceeded = False
flag_info = False
flag_info2 = False
flag_info3 = False
flag_info4 = False
wheel.stiffness.qvalue = (1.0, 5000)
wheel.speed.actuator.qvalue = (wheel.speed.actuator.maximum, 10000)
test_params = parameters
timer = qha_tools.Timer(dcm, test_params["test_time"])
slav = qha_tools.SlidingAverage(test_params["sa_nb_points"])
logger = qha_tools.Logger()
log.info("")
log.info("*************************************")
log.info("Testing : " + str(wheel.short_name))
log.info("*************************************")
log.info("")
wheel_temperature_max = wheel.temperature.maximum
wheel_temperature_min = wheel.temperature.minimum
wheel_temperature_mid = \
(wheel_temperature_max + wheel_temperature_min) * 0.5
wheel_current_max = wheel.current.maximum
current_limit_high = wheel_current_max * \
(1.0 + test_params["limit_factor_sup"])
current_limit_low = wheel_current_max * \
(1.0 - test_params["limit_factor_inf"])
while timer.is_time_not_out and flag_loop is True:
try:
wheel_temperature = wheel.temperature.value
wheel_current = wheel.current.value
slav.point_add(wheel_current)
wheel_current_sa = slav.calc()
wheel_speed_command = wheel.speed.actuator.value
wheel_speed_sensor = wheel.speed.sensor.value
wheel_stiffness = wheel.stiffness.value
dcm_time = timer.dcm_time() / 1000.
logger.log(
("Time", dcm_time),
("Stiffness", wheel_stiffness),
("Current", wheel_current),
("CurrentSA", wheel_current_sa),
("MaxAllowedCurrent", wheel_current_max),
("CurrentLimitHigh", current_limit_high),
("CurrentLimitLow", current_limit_low),
("Temperature", wheel_temperature),
("TemperatureMin", wheel_temperature_min),
("TemperatureMax", wheel_temperature_max),
("SpeedActuator", wheel_speed_command),
("SpeedSensor", wheel_speed_sensor),
)
# out of test loop if temperature is higher than MAX + 1 degree
if wheel_temperature >= wheel_temperature_max + 5:
flag_loop = False
# if joint temperature higher than a limit value,
# joint current must be null after 100ms.
if flag_max_temperature_exceeded is False and \
wheel_temperature >= wheel_temperature_max:
flag_max_temperature_exceeded = True
timer_max = qha_tools.Timer(dcm, 1000)
log.info("max temperature exceeded a first time")
if flag_max_temperature_exceeded and \
wheel_temperature <= wheel_temperature_mid:
flag_loop = False
log.info("Motor windings are cold enough")
# setting flag to True if 90 percent of max current is exceeded
if wheel_current_sa > 0.9 * wheel_current_max and not \
flag_max_current_exceeded and dcm_time > 0.4:
flag_max_current_exceeded = True
log.info("90 percent of max allowed currend reached")
# averaged current has not to exceed limit high
if wheel_current_sa > current_limit_high and not flag_info:
flag_wheel = False
flag_info = True
log.warning("current high limit exceeded")
# once max current is exceeded, current hasn't to be lower than
# limit low
if flag_max_current_exceeded and \
wheel_current_sa < current_limit_low and not \
flag_max_temperature_exceeded and not flag_info2:
flag_wheel = False
flag_info2 = True
log.info("current has been lower than low limit")
if flag_max_temperature_exceeded and\
timer_max.is_time_out() and wheel_current != 0 and not\
flag_info3:
flag_wheel = False
flag_info3 = True
log.critical("max temperature exceeded and current "+\
"is not null")
if flag_max_temperature_exceeded and wheel_current == 0.0 and\
not flag_info4:
flag_info4 = True
log.info("current null reached")
except KeyboardInterrupt:
flag_loop = False
log.info("KeyboardInterrupt from user")
wheel.speed.actuator.qvalue = (0.0, 1000)
wheel.stiffness.qqvalue = 0.0
# stop and unstiff wheel
wheel.speed.actuator.qvalue = (0.0, 1000)
wheel.stiffness.qqvalue = 0.0
# writing logger results into a csv file
result_file_path = "/".join([
result_base_folder, wheel.temperature.subdevice_type,
wheel.short_name + "_" + str(flag_wheel)
]) + ".csv"
logger.log_file_write(result_file_path)
assert flag_wheel
def test_joint_temperature_protection(self, dcm, mem, parameters, joint,
result_base_folder, rest_pos,
stiffness_off, plot_server, plot):
# logger initialization
log = logging.getLogger('MOTOR_LIMITATION_PERF_HW_002')
# flags initialization
flag_joint = True
flag_loop = True
flag_max_current_exceeded = False
flag_max_temperature_exceeded = False
flag_low_limit = False
flag_info = False
flag_info2 = False
flag_info3 = False
flag_info4 = False
# erasing real time curves
if plot:
plot_server.curves_erase()
# Objects creation
test_params = parameters
joint_position_actuator = joint.position.actuator
joint_position_sensor = joint.position.sensor
joint_temperature_sensor = joint.temperature
joint_hardness_actuator = joint.hardness
joint_current_sensor = joint.current
slav = qha_tools.SlidingAverage(test_params["sa_nb_points"])
logger = qha_tools.Logger()
log.info("")
log.info("*************************************")
log.info("Testing : " + str(joint.short_name))
log.info("*************************************")
log.info("")
# Knowing the board, we can know if the motor is a MCC or DC Brushless
joint_board = joint_position_actuator.device
# Creating device object to acceed to its error
joint_board_object = device.Device(dcm, mem, joint_board)
# Going to initial position
subdevice.multiple_set(dcm, mem, rest_pos, wait=True)
# unstiffing all the other joints to avoid leg motors overheat
subdevice.multiple_set(dcm, mem, stiffness_off, wait=False)
time.sleep(0.1)
# stiffing the joint we want to test
joint.hardness.qqvalue = 1.0
# keeping initial joint min and max
joint_initial_maximum = joint_position_actuator.maximum
joint_initial_minimum = joint_position_actuator.minimum
# setting current limitations
joint_current_max = joint_current_sensor.maximum
# setting temperature limitatons
joint_temperature_min = joint_temperature_sensor.minimum
joint_temperature_max = joint_temperature_sensor.maximum
delta_temperature = joint_temperature_max - joint_temperature_min
# setting new min and max out of the mechanical stop
if joint_initial_maximum >= 0.0:
joint_new_maximum = \
joint_initial_maximum + \
math.radians(test_params["limit_extension"])
else:
joint_new_maximum = \
joint_initial_maximum - \
math.radians(test_params["limit_extension"])
if joint_initial_minimum <= 0.0:
joint_new_minimum = \
joint_initial_minimum - \
math.radians(test_params["limit_extension"])
else:
joint_new_minimum = \
joint_initial_minimum + \
math.radians(test_params["limit_extension"])
joint_position_actuator.maximum = [[[
joint_new_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_new_minimum, dcm.getTime(0)
]], "Merge"]
# set timer limit
timer_limit = qha_tools.Timer(dcm, test_params["test_time_limit"])
# for Brushless motors, max test time is 60 seconds
brushless_motors = ("KneePitch", "HipPitch", "HipRoll")
if joint_position_actuator.short_name in brushless_motors:
timer = qha_tools.Timer(dcm, 60000)
else:
timer = qha_tools.Timer(dcm, test_params["test_time"])
# set position actuator out of the joint mechanical stop
# going out of physical mechanical stop in 5 seconds
if joint_position_actuator.short_name in \
("HipPitch", "RShoulderRoll", "HipRoll"):
joint_position_actuator.qvalue = (joint_new_minimum, 5000)
else:
joint_position_actuator.qvalue = (joint_new_maximum, 5000)
flag_first_iteration = True
timer_current_decrease = qha_tools.Timer(dcm, 100)
while flag_loop is True and timer.is_time_not_out():
try:
joint_temperature = joint_temperature_sensor.value
joint_current = joint_current_sensor.value
slav.point_add(joint_current)
joint_position_command = joint_position_actuator.value
joint_position = joint_position_sensor.value
joint_hardness_value = joint_hardness_actuator.value
joint_current_sa = slav.calc()
firmware_error = joint_board_object.error
dcm_time = timer.dcm_time() / 1000.
# Max current adaptation if joint temperature higher than Min
# No lower current for DC Brushless motors
if joint_board not in \
("HipBoard", "ThighBoard", "BackPlatformBoard"):
if joint_temperature > joint_temperature_min:
delta_max = joint_temperature_max - joint_temperature
max_allowed_current = (
(delta_max) / (delta_temperature)) *\
joint_current_max
else:
max_allowed_current = joint_current_max
else:
max_allowed_current = joint_current_max
# max allowed current can not be lower than 0.
if max_allowed_current < 0.0:
max_allowed_current = 0.0
# defining old max current as first calculated max current if
# it is the first loop iteration
if flag_first_iteration is True:
old_mac = max_allowed_current
flag_first_iteration = False
# defining current regulation limits
current_limit_high = max_allowed_current * \
(1.0 + test_params["limit_factor_sup"])
current_limit_low = max_allowed_current *\
(1.0 - test_params["limit_factor_inf"])
# setting flag to True if 90 percent of max current is exceeded
if joint_current_sa > 0.9 * max_allowed_current and not\
flag_max_current_exceeded:
flag_max_current_exceeded = True
log.info("90 percent of max allowed currend reached")
if max_allowed_current != old_mac:
timer_current_decrease = qha_tools.Timer(dcm, 100)
# averaged current has not to exceed limit high
if joint_current_sa > current_limit_high and \
timer_current_decrease.is_time_out() and not flag_info4:
flag_joint = False
flag_info4 = True
log.warning("current high limit exceeded")
# once max current is exceeded, current hasn't to be lower than
# limit low
if flag_max_current_exceeded and \
joint_current_sa < current_limit_low and not \
flag_max_temperature_exceeded and not flag_low_limit:
flag_joint = False
flag_low_limit = True
log.info("current has been lower than low limit")
# after time limit, current has to have exceeded max current
# if it has not, it is written on time in log file
if timer_limit.is_time_out() and not\
flag_max_current_exceeded and flag_info is False:
flag_joint = False
flag_info = True
log.info("current has not exceeded 90 percent of max "+\
"allowed current")
# hardware protection
if joint_temperature >= joint_temperature_max + 1:
flag_loop = False
log.warning("temperature too high (max+1 degree)")
# if joint temperature higher than a limit value,
# joint current must be null after 100ms.
if flag_max_temperature_exceeded is False and \
joint_temperature >= joint_temperature_max:
flag_max_temperature_exceeded = True
timer_max = qha_tools.Timer(dcm, 100)
log.info("max temperature exceeded a first time")
if flag_max_temperature_exceeded and\
timer_max.is_time_out() and joint_current != 0 and not\
flag_info2:
flag_joint = False
flag_info2 = True
log.critical("max temperature exceeded and current "+\
"is not null")
if flag_max_temperature_exceeded and joint_current == 0.0 and\
not flag_info3:
flag_info3 = True
log.info("current null reached")
old_mac = max_allowed_current
logger.log(
("Time", dcm_time), ("Hardness", joint_hardness_value),
("Current", joint_current),
("CurrentSA", joint_current_sa),
("MaxAllowedCurrent", max_allowed_current),
("CurrentLimitHigh", current_limit_high),
("CurrentLimitLow", current_limit_low),
("Temperature", joint_temperature),
("TemperatureMin", joint_temperature_min),
("TemperatureMax", joint_temperature_max),
("Command", joint_position_command),
("Position", joint_position), ("FWError", firmware_error))
# for real time plot
if plot:
plot_server.add_point("Hardness", dcm_time,
joint_hardness_value)
plot_server.add_point("CurrentSA", dcm_time,
joint_current_sa)
plot_server.add_point("MaxAllowedCurrent", dcm_time,
max_allowed_current)
plot_server.add_point("CurrentLimitHigh", dcm_time,
current_limit_high)
plot_server.add_point("CurrentLimitLow", dcm_time,
current_limit_low)
plot_server.add_point("Temperature", dcm_time,
joint_temperature)
plot_server.add_point("TemperatureMin", dcm_time,
joint_temperature_min)
plot_server.add_point("TemperatureMax", dcm_time,
joint_temperature_max)
plot_server.add_point("Command", dcm_time,
joint_position_command)
plot_server.add_point("Position", dcm_time, joint_position)
except KeyboardInterrupt:
flag_loop = False
log.info("KeyboardInterrupt from user")
# writing logger results into a csv file
result_file_path = "/".join([
result_base_folder, joint_position_actuator.subdevice_type,
joint_position_actuator.short_name + "_" + str(flag_joint)
]) + ".csv"
logger.log_file_write(result_file_path)
# seting min and max joint software limits to their original values
joint_position_actuator.maximum = [[[
joint_initial_maximum, dcm.getTime(0)
]], "Merge"]
joint_position_actuator.minimum = [[[
joint_initial_minimum, dcm.getTime(0)
]], "Merge"]
assert flag_joint