Calibration type 5 - motor controlled using MC4plus #498

wevmacedo · 2021-03-31T16:21:02Z

wevmacedo
Mar 31, 2021

We are testing the calibration type 5, using one DC motor connected to an MC4plus board. The firware running on the board is here. This firmware allows to change IP addresses and we want to be able run the calibration type 5.

The configuration files are in this folder, and so far we have not been able to start correctly the motor after the calibration.

For our tests, the calibration file look as follows:

<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


	<device xmlns:xi="http://www.w3.org/2001/XInclude" name="knee-calibrator" type="parametricCalibratorEth">
                <xi:include href="../general.xml" />
                
		<group name="GENERAL">
		    <param name="joints">  1  </param> <!-- the number of joints of the robot part -->
		    <param name="deviceName"> Knee_Calibrator </param>
		</group>

        <group name="HOME">
        <param name="positionHome">                       0        </param>
        <param name="velocityHome">                       1.00    </param>
        </group>
        
        
        
        <group name="CALIBRATION">
        <param name="calibrationType">                    5        </param>
        <param name="calibration1">	200		</param> 
        <param name="calibration2">	0	    </param> 
        <param name="calibration3">	0		</param> 
        
        
        <param name="calibration4">                       0.0        </param>
        <param name="calibration5">                       0.0        </param>
        <param name="calibrationZero">                 0.0        </param>
        <param name="calibrationDelta">                   0.1        </param>
        <param name="startupPosition">                   0.00       </param>
        <param name="startupVelocity">                    10.0        </param>
        <param name="startupMaxPwm">                   100          </param>
        <param name="startupPosThreshold">                2          </param>
        </group>

		<param name="CALIB_ORDER">(0) </param>

		<action phase="startup" level="10" type="calibrate">
		    <param name="target">knee-mc_wrapper</param>
		</action>

		<action phase="interrupt1" level="1" type="park">
		    <param name="target">knee-mc_wrapper</param>
		</action>

		<action phase="interrupt3" level="1" type="abort" />

	</device>

The output from yarprobotinterface is as follows:

🔘 Click to expand

[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] Preprocessor complete in:  0.0089964 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.1.3.104:10002/
[INFO] startup phase starting...
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  10.1.3.104:10002
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[WARNING] in EthReceiver::config() the config socket has queue size =  1048576 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG] eth::parser::print(boardData) for BOARD knee-eb10-j0
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.1.3.4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  knee-eb10-j0
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.1.3.4 (knee-eb10-j0) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.1.3.4
[WARNING] embObjMC BOARD  knee-eb10-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] embObjMC BOARD  knee-eb10-j0 :fromConfig() detected that IMPEDANCE parameters section is found
[INFO] embObjMC BOARD  knee-eb10-j0 IMPEDANCE section: parameters successfully loaded
[INFO]  from BOARD 10.1.3.4 (░uXEÀ☺), src LOCAL, adr 0, time 1600s 910m 385u: (code 0x00000034, par16 0x0001 par64 0x0000000000000030) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .
[DEBUG] EthResource::verifyBoardPresence() found BOARD knee-eb10-j0 with IP 10.1.3.4 after 0.0024485 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD knee-eb10-j0 with IP 10.1.3.4
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD knee-eb10-j0 with IP 10.1.3.4 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD knee-eb10-j0 with IP 10.1.3.4 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD knee-eb10-j0 @ IP 10.1.3.4 of type mc4plus with FW = ver 3.29 built on 2021 Jan 29 14:0
[DEBUG]  from BOARD 10.1.3.4 (░uXEÀ☺), src LOCAL, adr 0, time 1600s 954m 188u: (code 0x05000015, par16 0x1000 par64 0x000000000000000f) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG]  from BOARD 10.1.3.4 (░uXEÀ☺), src LOCAL, adr 0, time 1600s 954m 387u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + .
[INFO] |yarp.dev.PolyDriver| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[ERROR] |yarp.devices.controlboardwrapper2| Parameter networks use deprecated syntax
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee : no ROS initialization required
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee  initting YARP initialization
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/rpc:i active at tcp://10.1.3.104:10003/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/command:i active at tcp://10.1.3.104:10004/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/state:o active at tcp://10.1.3.104:10005/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/stateExt:o active at tcp://10.1.3.104:10006/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] knee-mc_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[DEBUG] knee-calibrator starting calibration of device knee-mc_wrapper
[INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO] Knee_Calibrator : starting calibration
[DEBUG] Knee_Calibrator : Joints calibration order:
[DEBUG] Knee_Calibrator : Calling calibrateJoint on joint  0 : type  5  with params:  200 0 0 0 0
[DEBUG] Knee_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  28.625
[DEBUG]  from BOARD 10.1.3.4 (░uXEÀ☺), src LOCAL, adr 0, time 1604s 894m 819u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE
[DEBUG] Knee_Calibrator : calib joint  0 ended
[DEBUG] Knee_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG] Knee_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  )
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /yarpmotorgui0//single-ETH-2FOC-motor/knee/rpc:o to /single-ETH-2FOC-motor/knee/rpc:i using tcp
[INFO] |yarp.os.impl.PortCoreInputUnit| Receiving input from /yarpmotorgui0//single-ETH-2FOC-motor/knee/command:o to /single-ETH-2FOC-motor/knee/command:i using udp
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[INFO] |yarp.os.impl.PortCoreOutputUnit| Sending output from /single-ETH-2FOC-motor/knee/stateExt:o to /yarpmotorgui0//single-ETH-2FOC-motor/knee/stateExt:i using udp
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -6.475 des: 0.000 -> delta: 6.475 threshold: 2.000 output: 8000.000 mode: pos
[ERROR] Knee_Calibrator : checkGoneToZeroThreshold: joint  0  Timeout while going to zero!
[ERROR] Knee_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes
[DEBUG]  from BOARD 10.1.3.4 (░uXEÀ☺), src LOCAL, adr 0, time 1617s 326m 436u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE
[DEBUG] knee-calibrator finished calibration of device knee-mc_wrapper
[INFO] All actions for action level 10 of startup phase finished.
[INFO] startup phase finished.
[INFO] run phase starting...
[DEBUG] yarprobotinterface running happily
[DEBUG] |yarp.devices.controlboardwrapper2| cmd is  [set] [reca] [cal] 0  joint is  0
[DEBUG] Knee_Calibrator : Calling calibrateJoint on joint  0 : type  5  with params:  200 0 0 0 0

The behavior during the calibration is as follows: The motor starts to move in one direction, we do the hardstop with our hands, and the motor stops moving. After the motor stops moving, the messages of the controller trying to to to zero appear, but the motor does not move and reaches the timeout. Eventhough the calibration got a timeout because the controller was not able to reach the desired position, the motor appears as available in yarpmotorgui

Let us know what type of values we should try for the parameters of the calibration.

cc @plinioMoreno

Answered by davidetome

Apr 28, 2021

We did the work, see this PR and let us know.

cc @pattacini @ale-git

View full answer

pattacini · 2021-04-08T16:06:45Z

pattacini
Apr 8, 2021
Maintainer

Hi @wevmacedo

Sorry for the delay, we'll be giving you support on this in the next week.

0 replies

davidetome · 2021-04-13T09:02:32Z

davidetome
Apr 13, 2021

Hi @wevmacedo , we noticed that you're are using some wrong parameters in the XML files, we'll take a look at them on Thursday and give you feedback.

cc @ale-git @pattacini @plinioMoreno

0 replies

davidetome · 2021-04-28T05:30:30Z

davidetome
Apr 28, 2021

We did the work, see this PR and let us know.

cc @pattacini @ale-git

0 replies

wevmacedo · 2021-04-29T16:45:25Z

wevmacedo
Apr 29, 2021
Author

We applied the changes to the mc4plus related files in this commit. However, the behavior is the same as above, the motor starts the motion for calibration and after the hard stop it does not move anymore. The output from yarpinterface as follows

🔘 Click to expand

C:\robotology\eth-boards-setups\single-ETH-1-motor-test-vislab>yarprobotinterface
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file C:\robotology\eth-boards-setups\single-ETH-1-motor-test-vislab\.\test_knee_joint_V25.xml
[DEBUG] Preprocessor complete in:  0.0062136 s
[INFO] |yarp.os.Port| Port /icub/yarprobotinterface active at tcp://10.1.3.104:10002/
[INFO] startup phase starting...
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  10.1.3.104:10002
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[WARNING] in EthReceiver::config() the config socket has queue size =  1048576 ; you request ETHRECEIVER_BUFFER_SIZE=
[DEBUG] eth::parser::print(boardData) for BOARD knee-eb10-j0
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.1.3.4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  knee-eb10-j0
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.1.3.4 (knee-eb10-j0) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.1.3.4
[WARNING] embObjMC BOARD  knee-eb10-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
[DEBUG] embObjMC BOARD  knee-eb10-j0 :fromConfig() detected that IMPEDANCE parameters section is found
[INFO] embObjMC BOARD  knee-eb10-j0 IMPEDANCE section: parameters successfully loaded
[DEBUG] EthResource::verifyBoardPresence() found BOARD knee-eb10-j0 with IP 10.1.3.4 after 0.0016526 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD knee-eb10-j0 with IP 10.1.3.4
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD knee-eb10-j0 with IP 10.1.3.4 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD knee-eb10-j0 with IP 10.1.3.4 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD knee-eb10-j0 @ IP 10.1.3.4 of type mc4plus with FW = ver 3.29 built on 2021 Jan 29 14:0
[DEBUG]  from BOARD 10.1.3.4 (ðùú┴┐☻), src LOCAL, adr 0, time 9231s 119m 187u: (code 0x05000015, par16 0x1000 par64 0x000000000000000f) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + .
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG]  from BOARD 10.1.3.4 (ðùú┴┐☻), src LOCAL, adr 0, time 9231s 120m 93u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + .
[INFO] |yarp.dev.PolyDriver| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO]  from BOARD 10.1.3.4 (ðùú┴┐☻), src LOCAL, adr 0, time 9231s 172m 411u: (code 0x06000005, par16 0x0005 par64 0x3000000000000000) -> ETH monitor: just verified, no news + .
[ERROR] |yarp.devices.controlboardwrapper2| Parameter networks use deprecated syntax
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee : no ROS initialization required
[INFO] |yarp.devices.controlboardwrapper2| /single-ETH-2FOC-motor/knee  initting YARP initialization
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/rpc:i active at tcp://10.1.3.104:10011/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/command:i active at tcp://10.1.3.104:10012/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/state:o active at tcp://10.1.3.104:10013/
[INFO] |yarp.os.Port| Port /single-ETH-2FOC-motor/knee/stateExt:o active at tcp://10.1.3.104:10014/
[INFO] |yarp.dev.PolyDriver| Created wrapper <controlboardwrapper2>. See C++ class ControlBoardWrapper for documentation.
[INFO] |yarp.dev.PolyDriver| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Entering action level 5 of phase startup
[INFO] knee-mc_wrapper is not an IWrapper. Trying IMultipleWrapper
[INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of startup phase finished.
[INFO] Entering action level 10 of phase startup
[DEBUG] knee-calibrator starting calibration of device knee-mc_wrapper
[INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO] Knee_Calibrator : starting calibration
[DEBUG] Knee_Calibrator : Joints calibration order:
[DEBUG] Knee_Calibrator : Calling calibrateJoint on joint  0 : type  5  with params:  200 0 0 0 0
[DEBUG] Knee_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  154.507
[DEBUG]  from BOARD 10.1.3.4 (ðùú┴┐☻), src LOCAL, adr 0, time 9236s 46m 112u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE
[DEBUG] Knee_Calibrator : calib joint  0 ended
[DEBUG] Knee_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG] Knee_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  )
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[DEBUG] Knee_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.060 des: 0.000 -> delta: 25.060 threshold: 2.000 output: 3360.000 mode: pos
[ERROR] Knee_Calibrator : checkGoneToZeroThreshold: joint  0  Timeout while going to zero!
[ERROR] Knee_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes

1 reply

pattacini Apr 30, 2021
Maintainer

Hi @wevmacedo,

I would really encourage you to use the PR for further commenting on this as its dashboard is meant for the collaborative review.
Plus, this space is more for discussions rather than tracking issues and we have also 2 threads about the same argument duplicating the info.

Provide feedback

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Robotology

Calibration type 5 - motor controlled using MC4plus #498

wevmacedo Mar 31, 2021

Replies: 4 comments · 1 reply

pattacini Apr 8, 2021 Maintainer

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pattacini Apr 30, 2021
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