1DOF Haptic - Revision history

Aguti at 17:50, 1 June 2023

2023-06-01T17:50:39Z

2023-06-01T17:49:14Z

2023-06-01T17:48:10Z

2018-10-08T21:25:21Z

2018-07-23T17:14:48Z

2018-07-23T17:14:34Z

2017-10-17T10:21:08Z

2016-12-01T19:06:47Z

2016-12-01T19:04:54Z

2016-12-01T19:02:42Z

@@ Line 44: / Line 44: @@
 We have created a helloWorld example to test the communication with the robot.
-Please download it from [[http://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-HelloWorldMotor.tgz | here ]] in your prefered destination.
+Please download it from [[http://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-HelloWorldMotor.tgz here ]] in your prefered destination.
 Untar the file:
 <pre>
@@ Line 110: / Line 110: @@
 For the implementation of Practice 2 of the "Control and Robotics in Medicine" subject of the "Master on Bioengineering"  of the UPM, we have created a students template.
-You can download the template from [[media:1DOFHAP-P2Template.tgz | here ]]
+You can download the template from [[http://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-P2Template.tgz here ]]
 <h2> Structure </h2>

@@ Line 44: / Line 44: @@
 We have created a helloWorld example to test the communication with the robot.
-Please download it from [[https://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-HelloWorldMotor.tgz | here ]] in your prefered destination.
+Please download it from [[http://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-HelloWorldMotor.tgz | here ]] in your prefered destination.
 Untar the file:
 <pre>

@@ Line 44: / Line 44: @@
 We have created a helloWorld example to test the communication with the robot.
-Please download it from [[media:1DOFHAP-HelloWorldMotor.tgz | here ]] in your prefered destination.
+Please download it from [[https://www.robolabo.etsit.upm.es/wikiFiles/1DOFHAP-HelloWorldMotor.tgz | here ]] in your prefered destination.
 Untar the file:
 <pre>

@@ Line 10: / Line 10: @@
 <ul>
-<li> Download the Arduino IDE 1.6.x according to your operating system from: https://www.arduino.cc/en/Main/Software . </li>
+<li> Download the Arduino IDE according to your operating system from: https://www.arduino.cc/en/Main/Software . </li>
 <li> Install the Arduino IDE </li>
 <ul>

← Older revision		Revision as of 17:14, 23 July 2018
Line 6:		Line 6:
	<h1> Configuring the environment </h1>		<h1> Configuring the environment </h1>

−	~~PEPEPSPSPS~~

	<h2> Setting up the Arduino Software </h2>		<h2> Setting up the Arduino Software </h2>

← Older revision		Revision as of 17:14, 23 July 2018
Line 5:		Line 5:

	<h1> Configuring the environment </h1>		<h1> Configuring the environment </h1>
		+
		+	PEPEPSPSPS

	<h2> Setting up the Arduino Software </h2>		<h2> Setting up the Arduino Software </h2>

@@ Line 173: / Line 173: @@
 <br>
-<b> IMPORTANT: The encoder available on Practice 2, is a 12 quadrature Counts Per Revolution (CPR) encoder.
+<b> IMPORTANT: The encoder available on Practice 2, is a 48 quadrature Counts Per Revolution (CPR) encoder.
 This means that <i> ENCODER_GetCount (void) </i> and <i> ENCODER_GetCountInSpeedInterval (void) </i> functions return a value related to the encoder counts.
-That means that for every turn on the motor axis, there are 12 values (1 pulse every 30 degrees).
+That means that for every turn on the motor axis, there are 48 values (1 pulse every 7.5 degrees).
 This value must be multiplied by the reduction ratio of the motor to check the position outside the motor axis. </b>
 <br>

← Older revision		Revision as of 19:06, 1 December 2016
Line 271:		Line 271:
	This function should implement the controllers.		This function should implement the controllers.

−	<b> Important </b>: It is recommended that before arriving to the laboratory ~~to work on Practice 2~~, ~~a function~~ to convert encoder counts to position and speed is already programmed, to save time and ~~understand the~~ basic ~~electronic components~~ of the ~~system~~.	+	<b> Important </b>: It is important that the helloworld and template files are studied before starting Practice 2.
		+	Moreover, it is recommended that before arriving to the laboratory, two functions to convert encoder counts to position (in radians) and speed (in radians/second) are already programmed, to save time and get a basic understanding of the robot electronics.

@@ Line 175: / Line 175: @@
 <b> IMPORTANT: The encoder available on Practice 2, is a 12 quadrature Counts Per Revolution (CPR) encoder.
 This means that <i> ENCODER_GetCount (void) </i> and <i> ENCODER_GetCountInSpeedInterval (void) </i> functions return a value related to the encoder counts.
-That means that for every turn on the motor axis, there are 12 values (1 pulse per 30 degrees).
+That means that for every turn on the motor axis, there are 12 values (1 pulse every 30 degrees).
-This count must be multiplied by the reduction ratio of the motor to check the position outside the motor axis. </b>
+This value must be multiplied by the reduction ratio of the motor to check the position outside the motor axis. </b>
 <br>
@@ Line 270: / Line 270: @@
 </pre>
 This function should implement the controllers.