The display of the Python_GUI is as follows:
Stopped plot updates for ActiveTrial
Stopped plot updates for BioFeedback
Stopped plot updates for MachineLearning
No device is currently connected.
Currently available devices:
None - 5C:A8:8A:8E:07:25
Currently available devices:
g - 5C:A8:8A:8E:07:25
Currently available devices:
g - 5C:A8:8A:8E:07:25
g
No device is currently connected.
Saved device: g - 5C:A8:8A:8E:07:25
Using Bleak scan...
Scanning...
Attempt 1 of 4
Found device: g - 5C:A8:8A:8E:07:25
Matching device found. Connecting...
Is Exo connected: True
BleakClient, 5C:A8:8A:8E:07:25
Stopped plot updates for ActiveTrial
Stopped plot updates for BioFeedback
Stopped plot updates for MachineLearning
using bleak torque
Starting trial...
using bleak start
start motors
using bleak FSR
calibrate fsr
The exoskeleton system seems to be stuck at the "calibrate fsr" step.
Despite numerous attempts, we still haven't been able to resolve the issue. Sincerely hope to receive your valuable suggestions and assistance, and look forward to your reply.
Hello, please set the motor type as follows:
hip = AK60v1.1
knee = 0
ankle = 0
elbow = 0
Please also set a default controller, for example:
hipDefaultController = calibrManager
kneeDefaultController = 0
ankleDefaultController = 0
elbowDefaultController = 0
Other settings remain the same. Let us know if you have more questions.
After we completed some modifications according to your suggestions, we successfully drove the motor, but the motor speed is too fast.
Since the exoskeleton system is not equipped with a torque sensor, we have set the PID Flag parameter in the file SDCard->hipControllers->step.csv on the Teensy to 0, and all other parameters in the step.csv file are configured in accordance with the instructions provided in the First Time SetUp article on the wiki.
What is causing the abnormal operation speed of the motor? Have we missed any important parameters that need to be configured?
By the way, we have corrected the parameter settings of the config.ini file in the SD card as follows:
[bilateralHip]
;Sides - left, right, bilateral
sides = left
;Joints used and their motor name, 0 = joint not useed, AK60, AK60v1.1, AK70, are AK80 the different CAN motors.
;Values 0(joint NOT used), NullMotor (joint IS used, no motors attached), AK60, AK60v1.1, AK70, AK80, MaxonMotor
hip = AK60v1.1
knee = 0
ankle = 0
elbow = 0
;Joint gear ratio = velocity of driving member (motor)/velocity of the driven member (output shaft), assumes constant gearing ratio. If the motor spins 6 revolutions to 1 revolution of the output this value would be 6.
;This is for transmission gearing after the motor output shaft. If the Motor has a built in gearing that should be part of the motor class (see motor.h/.cpp)
;Values 1, 2, 3, 4.5
hipGearRatio = 1
kneeGearRatio = 1
ankleGearRatio = 1
elbowGearRatio = 1
;Default controller for the joint
;Hip Controllers: zeroTorque, franksCollinsHip, constantTorque, chirp, step, phmc, calibrManager
;Knee Controllers: zeroTorque, constantTorque, chirp, step, calibrManager
;Ankle Controllers: zeroTorque, PJMC, zhangCollins, constantTorque, TREC, calibrManager, chirp, step, SPV2
;Elbow Controllers: zeroTorque, elbowMinMax, calibrManager, chirp, step
hipDefaultController = calibrManager
kneeDefaultController = 0
ankleDefaultController = 0
elbowDefaultController = 0
;Do you want to use a torque sensor for these joints, 0 = no, yes = yes
hipUseTorqueSensor = 0
kneeUseTorqueSensor = 0
ankleUseTorqueSensor = 0
elbowUseTorqueSensor = 0
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