Motor model white paper (ros ticket #3853) - Githubissues

PR2 / pr2_ethercat_drivers

Drivers for the ethercat system and the peripherals on the PR2.

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Motor model white paper (ros ticket #3853) #14

Open ahendrix opened 11 years ago

ahendrix commented 11 years ago

We need to document and verify the motor model. The wiki should have links from the diagnostic output to the inner workings of the model.

Users will trust and understand the model if it is well documented
WG users can look for holes or bugs in the model using the documentation

Documentation should be on the wiki under "ethercat_hardware". Should have:

Current, voltage measurement hardware implementation and limitations
Filters for measurements
- Reasons and justification of filters
- Pictures showing raw data going through filter
Motor resistance calculation
Diagnostic message output
- Links from troubleshooting page to most relevant places in model
Table of error tolerances, constants
How to use mtrace tool

I volunteer to do doc review.

trac data:

Owner: dking
Reporter: watts
Reported at: Wed Feb 10 11:11:55 2010
URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3853

ahendrix commented 11 years ago

[dking] Put