Final check

calibrate.py

@@ -8,7 +8,7 @@
 import config_util
 
 
-def calibrate_encoder_to_ankle_conversion(exo: exoboot.Exo):
+def calibrate_encoder_to_ankle_conversion(c,exo: exoboot.Exo):
     '''This routine can be used to manually calibrate the relationship
     between ankle and motor angles. Move through the full RoM!!!'''
     exo.update_gains(Kp=constants.DEFAULT_KP, Ki=constants.DEFAULT_KI,
@@ -18,8 +18,8 @@ def calibrate_encoder_to_ankle_conversion(exo: exoboot.Exo):
     for _ in range(1000):
         exo.command_current(exo.motor_sign*1000)
         time.sleep(0.02)
-        exo.read_data()
-        exo.write_data()
+        exo.read_data(c)
+        exo.write_data(c,False)
     print('Done! File saved.')
 
 
@@ -29,6 +29,6 @@ def calibrate_encoder_to_ankle_conversion(exo: exoboot.Exo):
     if len(exo_list) > 1:
         raise ValueError("Just turn on one exo for calibration")
     exo = exo_list[0]
-    exo.standing_calibration()
-    calibrate_encoder_to_ankle_conversion(exo=exo)
+    exo.standing_calibration(config)
+    calibrate_encoder_to_ankle_conversion(config,exo=exo)
     exo.close()

config_util.py

@@ -68,10 +68,10 @@ class ConfigurableConstants():
     SWING_ONLY: bool = False
 
     # 4 point Spline
-    RISE_FRACTION: float = 0.2
-    PEAK_FRACTION: float = 0.53
-    FALL_FRACTION: float = 0.60
-    PEAK_TORQUE: float = 5
+    RISE_FRACTION: float = 0.075 #0.2
+    PEAK_FRACTION: float = 0.33535#0.53
+    FALL_FRACTION: float = 0.44478#0.60
+    PEAK_TORQUE: float = 18.96235#5
     SPLINE_BIAS: float = 3  # Nm
 
     # Impedance

constants.py

@@ -9,8 +9,8 @@ class ExobootModel(Enum):
     EB51 = 1
 
 
-ExoType: Type[ExobootModel] = ExobootModel.EB51
-#ExoType = Type[ExobootModel] = ExobootModel.EB45
+#ExoType: Type[ExobootModel] = ExobootModel.EB51
+ExoType: Type[ExobootModel] = ExobootModel.EB45
 
 DEFAULT_BAUD_RATE = 230400
 TARGET_FREQ = 200
@@ -20,14 +20,16 @@ class ExobootModel(Enum):
     MIN_ANKLE_ANGLE = -45  # degrees, dorsiflexion
 
     # These polynomials are derived from the calibration routine (calibrate.py), analyzed with transmission_analysis.py
-    LEFT_ANKLE_TO_MOTOR = [
+    """LEFT_ANKLE_TO_MOTOR = [
         1.42930145e-05, 9.60847697e-04, 9.66033271e-03, 1.21997272e+00,
         -7.39600859e+02, -2.96580581e+04
-    ]
-    RIGHT_ANKLE_TO_MOTOR = [
+    ]"""
+    LEFT_ANKLE_TO_MOTOR = [ 4.04430823e-06,  8.55008776e-04,  4.16160420e-02,  1.52798433e+00, -7.60189930e+02, -2.98125682e+04]
+    """RIGHT_ANKLE_TO_MOTOR = [
         -1.02595964e-05, -9.28352253e-04, -3.10556810e-02, -1.40767218e+00,
         7.57989378e+02, -3.48608044e+03
-    ]
+    ]"""
+    RIGHT_ANKLE_TO_MOTOR = [-2.07317154e-06, -1.02471558e-03, -4.25686613e-02, -9.64798203e-01, 7.71135655e+02,  1.11783125e+04]
 
     # These points are used to create a Pchip spline, which defines the transmission ratio as a function of ankle angle
     ANKLE_PTS_LEFT = np.array([-40, -20, 0, 10, 20, 30, 40, 45.6, 50,
@@ -41,7 +43,7 @@ class ExobootModel(Enum):
                              -11])  # Nm/Nm
 
     LEFT_ANKLE_ANGLE_OFFSET = 201  #-92  # 7,
-    RIGHT_ANKLE_ANGLE_OFFSET = -150  #-200# deg
+    RIGHT_ANKLE_ANGLE_OFFSET = -198# deg
 
 elif (ExoType == ExobootModel.EB51):
 
@@ -50,27 +52,25 @@ class ExobootModel(Enum):
     MIN_ANKLE_ANGLE = -95
 
     #EB-51
-    LEFT_ANKLE_TO_MOTOR = np.array([
-        -1.39600219e-06, -1.19669863e-04, 5.18587784e-02, 3.48021800e+00,
-        -5.71389166e+02, -2.84883844e+04
-    ])
+    #LEFT_ANKLE_TO_MOTOR = np.array([-2.27233618e-06,  3.55519545e-05,  4.73297332e-02,  3.18534948e+00,-5.63299330e+02, -2.85391796e+04])
+    LEFT_ANKLE_TO_MOTOR = np.array([-2.41577803e-06,  6.03503507e-05,  4.69647778e-02,  3.14213596e+00,-5.63452288e+02,  2.04918050e+04])
     #LEFT_ANKLE_TO_MOTOR = np.array([-2.32052284e-06, 6.29683551e-05, 4.45431399e-02, 3.09556691e+00,-5.49941515e+02, -1.11211736e+04])  #used for the test trials
 
-    RIGHT_ANKLE_TO_MOTOR = np.array([
-        5.05377935e-06, -2.83727629e-04, -7.31477078e-02, -1.56178494e+00,
-        6.34368537e+02, 9.35489733e+03
-    ])
+    RIGHT_ANKLE_TO_MOTOR = np.array([5.05377935e-06, -2.83727629e-04, -7.31477078e-02, -1.56178494e+00,
+        6.34368537e+02, 9.35489733e+03])
     #RIGHT_ANKLE_TO_MOTOR = np.array([ 5.37977952e-06, -2.76399833e-04, -7.58092528e-02, -1.65003833e+00,6.38860770e+02,  9.21647151e+03]) #used for the test trials
 
     #EB-51
+
     ANKLE_PTS_LEFT = np.array([
-        -67, -60, -47, -40, -20, -10, 0, 10, 20, 30, 40, 45.6, 55, 80, 90, 100,
-        112
+        -67, -60, -50, -40, -20, -10, 0, 10, 20, 30, 40, 45.6, 55, 70, 80, 86
     ])
     TR_PTS_LEFT = np.array([
-        14.85, 14, 11.89, 12.74, 14.28, 13.71, 12.54, 10.43, 8, 5.5, 2.3, 0.4,
-        -3.3, -10, -11.30, -10.95, -8.75
+        15.5, 13.35, 11.95, 12.03, 13.82, 14.3, 13.96, 12.77, 10.56, 7.1, 3.19,
+        0.66, -3.78, -9.55, -12.58, -13.09
     ])
+    #ANKLE_PTS_LEFT = np.array([-67, -60, -47, -40, -30, -20, -10, 0, 10, 20, 30, 40, 45.6, 55, 80, 90,100, 112])
+    #TR_PTS_LEFT = np.array([13.73, 13.5, 13.76, 13.8, 14.04,14.28, 13.71, 12.54, 10.43, 8, 5.5, 2.3, 0.4, -3.3, -10, -11.30, -10.95, -8.75])
 
     #ANKLE_PTS_LEFT = np.array([-67, -60, -40, -20, -10 ,0, 10, 20, 30, 40, 45.6, 55, 80, 90, 100])  #used for the test trials
     #TR_PTS_LEFT = np.array([14.85, 14, 13.8, 13.7, 13.16, 12, 10.43, 8, 5.5, 2.3, 0.4, -3.3, -10, -11.30, -10.95])  #used for the test trials
@@ -91,8 +91,8 @@ class ExobootModel(Enum):
     # RIGHT_ANKLE_TO_TR = np.array([ 4.83188447e-07, -3.83712114e-05, -3.61934700e-03,  4.54812251e-01,
     #        -2.89416189e+01]) ## NEED TO CHANGE FOR RIGHT ANKLE
 
-    #EB-51
-    LEFT_ANKLE_ANGLE_OFFSET = -67  # deg
+    #EB-67#-51
+    LEFT_ANKLE_ANGLE_OFFSET = -67#-95#-67  # deg
     RIGHT_ANKLE_ANGLE_OFFSET = 87.1  #100  # deg
 
 # Add to these lists if dev_ids change, or new exos or actpacks are purchased!

custom_configs/default_config.py

@@ -1,48 +1,49 @@
-
-import config_util
-config = config_util.ConfigurableConstants()
-# config.HS_GYRO_DELAY = 0.05  # For example
-config.MAX_ALLOWABLE_CURRENT = 24000  # mA
-config.REEL_IN_MV = 900
-config.REEL_IN_TIMEOUT = 0.075 # 0.2
-config.SWING_SLACK = 3500 #5000
-config.TOE_OFF_FRACTION = 0.65
-config.DO_INCLUDE_GEN_VARS = True
-
-''' Here are the variables that are updatable in config, and their defaults:
-
-    TARGET_FREQ: float = 200  # Hz
-    ACTPACK_FREQ: float = 200  # Hz
-    DO_DEPHY_LOG: bool = True
-    DEPHY_LOG_LEVEL: int = 4
-    TASK: Type[Task] = Task.WALKING
-    STANCE_CONTROL_STYLE: Type[StanceCtrlStyle] = StanceCtrlStyle.FOURPOINTSPLINE
-    MAX_ALLOWABLE_CURRENT = 20000  # mA
-
-    # Gait State details
-    HS_GYRO_THRESHOLD: float = 100
-    HS_GYRO_FILTER_N: int = 2
-    HS_GYRO_FILTER_WN: float = 3
-    HS_GYRO_DELAY: float = 0.05
-    SWING_SLACK: int = 10000
-    TOE_OFF_FRACTION: float = 0.62
-    REEL_IN_TIMEOUT: float = 0.2
-
-    # 4 point Spline
-    RISE_FRACTION: float = 0.2
-    PEAK_FRACTION: float = 0.53
-    FALL_FRACTION: float = 0.63
-    PEAK_TORQUE: float = 5
-    SPLINE_BIAS: float = 3  # Nm
-
-    # Impedance
-    K_VAL: int = 500
-    B_VAL: int = 0
-    SET_POINT: float = 0  # Deg
-
-    READ_ONLY = False  # Does not require Lipos
-    DO_READ_FSRS = False
-
-    PRINT_HS = True  # Print heel strikes
-    SLIP_DETECT_ACTIVE = False
-'''
+
+import config_util
+config = config_util.ConfigurableConstants()
+# config.HS_GYRO_DELAY = 0.05  # For example
+config.MAX_ALLOWABLE_CURRENT = 25000  # mA
+config.REEL_IN_MV = 900
+config.REEL_IN_TIMEOUT = 0.075 # 0.2
+config.SWING_SLACK = 3500 #5000
+config.TOE_OFF_FRACTION = 0.65
+config.DO_INCLUDE_GEN_VARS = True
+
+
+''' Here are the variables that are updatable in config, and their defaults:
+
+    TARGET_FREQ: float = 200  # Hz
+    ACTPACK_FREQ: float = 200  # Hz
+    DO_DEPHY_LOG: bool = True
+    DEPHY_LOG_LEVEL: int = 4
+    TASK: Type[Task] = Task.WALKING
+    STANCE_CONTROL_STYLE: Type[StanceCtrlStyle] = StanceCtrlStyle.FOURPOINTSPLINE
+    MAX_ALLOWABLE_CURRENT = 20000  # mA
+
+    # Gait State details
+    HS_GYRO_THRESHOLD: float = 100
+    HS_GYRO_FILTER_N: int = 2
+    HS_GYRO_FILTER_WN: float = 3
+    HS_GYRO_DELAY: float = 0.05
+    SWING_SLACK: int = 10000
+    TOE_OFF_FRACTION: float = 0.62
+    REEL_IN_TIMEOUT: float = 0.2
+
+    # 4 point Spline
+    RISE_FRACTION: float = 0.2
+    PEAK_FRACTION: float = 0.53
+    FALL_FRACTION: float = 0.63
+    PEAK_TORQUE: float = 5
+    SPLINE_BIAS: float = 3  # Nm
+
+    # Impedance
+    K_VAL: int = 500
+    B_VAL: int = 0
+    SET_POINT: float = 0  # Deg
+
+    READ_ONLY = False  # Does not require Lipos
+    DO_READ_FSRS = False
+
+    PRINT_HS = True  # Print heel strikes
+    SLIP_DETECT_ACTIVE = False
+'''

exoboot.py

@@ -185,6 +185,8 @@ class DataContainer:
         commanded_torque: float = None
         slack: int = None
         temperature: int = None
+        is_clipping: bool = False
+        max_allowable_torque: float = 0
 
         #Control Parameters
         rise: float = 0.2
@@ -318,7 +320,7 @@ def read_data(self,
         self.data.gyro_y = -1 * self.motor_sign * \
             actpack_data.gyroy * constants.GYRO_GAIN
         #Remove -1 for EB-51
-        self.data.gyro_z = self.motor_sign * actpack_data.gyroz * constants.GYRO_GAIN  # sign may be different from Max's device
+        self.data.gyro_z = -1 * self.motor_sign * actpack_data.gyroz * constants.GYRO_GAIN  # sign may be different from Max's device
         '''Motor angle and current are kept in Dephy's orientation, but ankle
         angle and torque are converted to positive = plantarflexion.'''
         self.data.motor_angle = actpack_data.mot_ang
@@ -465,13 +467,16 @@ def command_torque(self,
             print('desired_torque: ', desired_torque)
             raise ValueError('Cannot apply negative torques')
         max_allowable_torque = self.calculate_max_allowable_torque()
+        self.data.max_allowable_torque = max_allowable_torque
         if desired_torque > max_allowable_torque:
             if self.is_clipping is False:  # Only print once when clipping occurs before reset
                 logging.warning('Torque was clipped!')
             desired_torque = max_allowable_torque
             self.is_clipping = True
+            self.data.is_clipping = self.is_clipping
         else:
             self.is_clipping = False
+            self.data.is_clipping = self.is_clipping
 
         # Softly reduce desired torque at high ankle angles when TR approaches 0
         if do_ease_torque_off: