User interface - Revision history

Jca: /* Motor test */

2026-01-08T11:27:00Z

Motor test

← Older revision		Revision as of 13:27, 8 January 2026
Line 227:		Line 227:
	The motor constant and dynamic friction are estimated from the steady state values of velocity and current.		The motor constant and dynamic friction are estimated from the steady state values of velocity and current.

	There may be cases where the estimate fails; in these cases, the motor resistance typically shows 200 Ω. Try again. Also, try to run a mission before the motortest. There must be some data-handling issues that are not adequately addressed; this issue is not fixed yet (Dec 2025).		A set of measurements is available here: [[Regbot_motor_parameters]], together with an explanation of the method and uncertainty.

	A set of measurements ~~can be found~~ here [[Regbot_motor_parameters]].

Jca: /* Motor test */

2026-01-08T11:23:23Z

Motor test

← Older revision		Revision as of 13:23, 8 January 2026
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	There may be cases where the estimate fails; in these cases, the motor resistance typically shows 200 Ω. Try again. Also, try to run a mission before the motortest. There must be some data-handling issues that are not adequately addressed; this issue is not fixed yet (Dec 2025).		There may be cases where the estimate fails; in these cases, the motor resistance typically shows 200 Ω. Try again. Also, try to run a mission before the motortest. There must be some data-handling issues that are not adequately addressed; this issue is not fixed yet (Dec 2025).

			A set of measurements can be found here [[Regbot_motor_parameters]].

Jca: /* IMU */

2025-12-30T18:57:52Z

IMU

← Older revision		Revision as of 20:57, 30 December 2025
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	=== IMU===		=== IMU===

	The IMU page ~~shows~~ data ~~from~~ the ~~IMU and is used for~~ tilt measurement ~~for the balance controller only~~.		The IMU page displays IMU data. The balance controller uses the tilt measurement.

	[[File:Gui_IMU.png \| 800px]]		[[File:Gui_IMU.png \| 800px]]

	Figure 5.1 IMU data. The graph shows calibrated values, and the gyro is calibrated by keeping the robot stable and pressing the "calibrate" button. (~~remember~~ to save the result in robot flash). The ~~servos~~ drift slightly~~, so~~ repeat if needed.		Figure 5.1 IMU data. The graph shows calibrated values, and the gyro is calibrated by keeping the robot stable and pressing the "calibrate" button. (Remember to save the result in the robot flash.) The gyros drift slightly; repeat as needed.

	The ~~orientation of the~~ IMU board needs to be configured so that its tilt is zero when ~~in balance~~.		The IMU board orientation needs to be configured so that its tilt is zero when balanced.
	For most robots, the tilt angle (~~around~~ the Y-axis) should be ~~a bit~~ less than 180 degrees.		For most robots, the tilt angle (about the Y-axis) should be slightly less than 180 degrees.

	Hold the robot at the balance point, see the tilt angle. This should be zero (or within +/- 1 ~~degree~~), if not adjust the y angle in the IMU board box (Edit, change, Apply and then "save to flash").		Hold the robot at the balance point, and see the tilt angle. This should be zero (or within +/- 1-2 degrees), if not adjust the y angle in the IMU board box (Edit, change, Apply and then "save to flash").

	=== Menu ===		=== Menu ===

Jca: /* Menu */

2025-12-30T18:54:08Z

← Older revision		Revision as of 20:54, 30 December 2025
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	Figure 6. Other tab pages are available from the "show" menu.		Figure 6. Other tab pages are available from the "show" menu.

			Some of the available data tabs are for debug and maintenance.

	===Mission===		===Mission===

Jca: /* Motor test */

2025-12-30T18:52:44Z

Motor test

← Older revision		Revision as of 20:52, 30 December 2025
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	There is a motor test option.		There is a motor test option.

	[[file: gui-motortest-2025.png \| ~~600px~~]]		[[file: gui-motortest-2025.png \| 700px]]

	The test runs each motor in two steps and writes a log file during execution.		The test runs each motor in two steps and writes a log file during execution.

Jca: /* Motor test */

2025-12-30T18:52:17Z

Motor test

← Older revision		Revision as of 20:52, 30 December 2025
Line 217:		Line 217:
	There is a motor test option.		There is a motor test option.

	[[file: gui-motortest-2025.png \| ~~500px~~]]		[[file: gui-motortest-2025.png \| 600px]]

	The test runs each motor in two steps and writes a log file during execution.		The test runs each motor in two steps and writes a log file during execution.

Jca: /* Motor test */

2025-12-30T18:48:32Z

Motor test

← Older revision		Revision as of 20:48, 30 December 2025
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	[[file: gui-motortest-2025.png \| 500px]]		[[file: gui-motortest-2025.png \| 500px]]

			The test runs each motor in two steps and writes a log file during execution.

			The log file is analysed to determine the time required for the motor current to increase before the motor velocity changes. This is used to estimate the time constant for the motor inductance. The peak current is used to estimate the motor driver and motor coil resistance.

			The motor constant and dynamic friction are estimated from the steady state values of velocity and current.

			There may be cases where the estimate fails; in these cases, the motor resistance typically shows 200 Ω. Try again. Also, try to run a mission before the motortest. There must be some data-handling issues that are not adequately addressed; this issue is not fixed yet (Dec 2025).

Jca: /* Mission */

2025-12-30T18:39:41Z

Mission

← Older revision		Revision as of 20:39, 30 December 2025
Line 212:		Line 212:

	See [[Mission]] for more details.		See [[Mission]] for more details.

			=== Motor test ===

			There is a motor test option.

			[[file: gui-motortest-2025.png \| 500px]]

Jca: /* Control time */

2025-12-30T18:34:08Z

Control time

← Older revision		Revision as of 20:34, 30 December 2025
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	==== Control time ====		==== Control time ====

	Is the time taken to handle sensor data, calculate control values and advance in mission lines ~~- this~~ should be finished within the sample time. Value is in microseconds, so it should be below 1000 to ensure valid control calculations.		Is the time taken to handle sensor data, calculate control values and advance in mission lines. All should be finished within the sample time. Value is in microseconds, so it should be below 1000 to ensure valid control calculations.

	==== Control details ====		==== Control details ====

Jca: /* Control time */

2025-12-30T18:32:58Z

Control time

← Older revision		Revision as of 20:32, 30 December 2025
Line 133:		Line 133:
	==== Control time ====		==== Control time ====

	Is the time taken to handle sensor data, calculate control values and advance in mission lines - this should be ~~finised~~ within ~~1ms~~. Value is in microseconds, so it should be below 1000 to ensure valid control calculations.		Is the time taken to handle sensor data, calculate control values and advance in mission lines - this should be finished within the sample time. Value is in microseconds, so it should be below 1000 to ensure valid control calculations.

	==== Control details ====		==== Control details ====