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--- ece4560:piktul:calibrate [2018/09/28 18:35] – [Manipulator Interface Code: Calibration] pvela
+++ ece4560:piktul:calibrate [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 41: / Line 41: @@
 Figure out what the servo command values are the get close to the limits, but do not hit them.  When doing this, please move the slider bar little by little until you get a feel for the appropriate limits.  Also make sure that the manipulator can move freely without hitting anything during this procedure. The associated angles, as measured by a protractor relative to the zero configuration, are the joint angle limits for your manipulator.  Each manipulator has different limits based on how it was put together.
+===== Done Calibrating: Deliverable ======
+--------------------
+Once all of the values are set and updated to reflect what works for the Piktul manipulator, take a screen capture of the calibration dialog box.  Turn that in as evidence of calibration. Next week, the lab assignment will be to confirm that the calibration is correct by comparing with the forward kinematics. That will be the true test.
+Also, turn in what values were used for the sleep joint configuration.
 ===== Manipulator Interface Code: Calibration File =====
 -----------------
 The easiest way to have the piktul know what the calibration values should be is to have saved it as a Matlab file for passing to the ''piktul'' object.  It is one of the optional arguments.  Sending the name of the calibration means that the piktul object will load those Matlab variables and overwrite the default values with those from the file.  Of course, you will still have to modify the code for the sleep joint configuration.  The rest should be automatic.  Since the piktul was built here in house and only one version exists, the coded link lengths should be correct.
+Once you have the calibration file, the ''piktul'' interface can be initialized with the parameters by loading and passing them as the argument to the ''piktul'' constructor:
+<code>
+arm  = piktul(load('pikparms.mat'));
+</code>
 ===== Manipulator Interface Code: Calibration =====
@@ Line 63: / Line 73: @@
   * **alphaSleep:** Your sleep position as a joint configuration.
+---------
+;#;
+[[ece4560:manicontrol | Back ]]
+;#;