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New encoder offsets + Powerboard support #5

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New encoder offsets + Powerboard support #5

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96646fd
New encoder offsets after calibration with 3D printed parts
Jun 28, 2021
8076e3e
Add new variables to retrieve and store data from the powerboard
Jul 29, 2021
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16 changes: 5 additions & 11 deletions solo12.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,17 +18,11 @@ def InitRobotSpecificParameters(self):
self.maximumCurrent = 12.0 # A
# To get this offsets, run the calibration with self.encoderOffsets at 0,
# then manualy move the robot in zero config, and paste the position here (note the negative sign!)
#self.encoderOffsets = - np.array([1.940310, -2.658198, -2.893262, -1.918342,
# 1.501880, -0.694378, 2.974716, -0.415520, -0.326077, 0.444250, 2.433491, -0.384136]) # Solo12 of Max Planck
# self.encoderOffsets = - np.array([-1.7298685312271118, 1.5541203022003174, -0.22502104938030243, -2.7335188388824463,
# 2.563904047012329, -2.5461583137512207, 1.5116088390350342, -2.1389687061309814, -1.7647048234939575, 0.12051336467266083, -3.485957145690918, -0.834662675857544])
#self.encoderOffsets = - np.array([-1.7356888055801392, 1.8896119594573975, -0.31902867555618286, -2.6425065994262695,
# 2.7726054191589355, -2.7252161502838135, 1.5070443153381348, -2.3966293334960938, 0.2065046727657318, -1.5028218030929565, 3.048154592514038, -1.1061315536499023])
self.encoderOffsets = - np.array([-1.743848204612732, 1.8073862791061401, -0.38901469111442566, -2.7215936183929443, 2.8377127647399902, -2.721593141555786, 1.2487566471099854,
-2.0542333126068115, 1.7747472524642944, -1.5836209058761597, 2.703704833984375, -0.7676450610160828])

self.encoderOffsets -= 9.0 * np.array([-0.01122508, 0.00826484, -0.04627015, 0.02105599, -0.01103931, -0.00173937,
0.0111513 , -0.03019726, 0.07182457, 0.02774821, 0.01398398, 0.00784015])
self.encoderOffsets = - np.array([-1.7551466226577759, 1.8692125082015991, -0.33785927295684814,
-2.8217074871063232, 2.4837048053741455, -2.5392541885375977,
-1.7476146221160889, -2.1298675537109375, 1.9545761346817017,
2.2128634452819824, -3.4803080558776855, -1.0698696374893188])

# self.encoderOffsets *= 0.
# 180 degree roll
# self.rotateImuVectors = lambda x: [-x[0], -x[1], x[2]]
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6 changes: 6 additions & 0 deletions utils/abstractRobotHal.py
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,11 @@ def UpdateMeasurment(self):
self.baseAccelerometer[:] = self.rotateImuVectors(
[self.hardware.imu_data_accelerometer(0), self.hardware.imu_data_accelerometer(1), self.hardware.imu_data_accelerometer(2)])

# Power data from the powerboard
self.current = self.hardware.powerboard_current()
self.voltage = self.hardware.powerboard_voltage()
self.energy = self.hardware.powerboard_energy()

return

def SendCommand(self, WaitEndOfCycle=True):
Expand Down Expand Up @@ -265,6 +270,7 @@ def Print(self):
print(chr(27) + "[2J")
self.hardware.PrintIMU()
self.hardware.PrintADC()
self.hardware.PrintPowerBoard()
self.hardware.PrintMotors()
self.hardware.PrintMotorDrivers()
self.hardware.PrintStats()
Expand Down