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robotology / icub-firmware-models

Models underlying the iCub Firmware
https://robotology.github.io/icub-firmware-models/
BSD 3-Clause "New" or "Revised" License
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Deploy the new architectural model and run the integration tests campaign on the AMC board #95

Open mfussi66 opened 1 week ago

mfussi66 commented 1 week ago

After successfully testing the new architectural model on the AMCBLDC, it is now time to deploy it on the AMC board.

The test plan remains the same as #92 .

Tests on a single motor

Test Result (❌ or ✅)
Idle -> current -
Idle -> velocity -
idle -> voltage -
current -> idle -
current -> velocity -
current -> voltage -
voltage -> idle -
voltage -> current -
voltage -> velocity -
velocity -> idle -
velocity -> current -
velocity -> voltage -
The switch between modes must be bumpless -
Restoring the control mode from idle/fault should reset the setpoint -
Velocity mode must be succesfully tested -
Open loop voltage mode must be succesfully tested -

Tests on the robot

Test Result (❌ or ✅)
Put the boards in Current mode at startup -
Move the motors by applying a Yaw setpoint -
Move the motors by applying a Pitch setpoint -
Move the motors by applying a Roll setpoint -
Push the fault button, release it, restore control mode -
Set a small overcurrent limit, trigger overcurrent fault, clear it, restore control -
mfussi66 commented 4 days ago

I updated in my fork (https://github.com/mfussi66/icub-firmware/commit/f7655341b7e298529f1bac77cd5af42815666015) the AMC project, now ready to flash it and test it for next sprint.

mfussi66 commented 1 day ago

The good old experimentalSetups folder in https://github.com/robotology/robots-configuration/tree/master/experimentalSetups/wristmk2_handmk3_amc_amcbldc can provide the necessary template to launch only the wrist motors on ergoCub SN001 or SN002 provided it's adapted using the actual robot's config (e.g. calibration values).