Wheelly measures - m-marini/wheellyj GitHub Wiki

WheellyMeasures

The WheellyMeasures java application runs a sets of random test to measure the physics of robot.

Its usege is

usage: org.mmarini.wheelly.apps.WheellyMeasures
       [-h] [-v] [-s SERVER] [-p PORT] [-o OUTPUT] [-i IDLE]
       [-x MAXPOWER] number duration

Run a session of measure tests.

positional arguments:
  number                 specify the number of tests
  duration               specify the single test duration (ms)

named arguments:
  -h, --help             show this help message and exit
  -v, --version          show current version
  -s SERVER, --server SERVER
                         specify robot server name  or ip address (default:
                         wheelly)
  -p PORT, --port PORT   specify robot server name  or ip address (default:
                         22)
  -o OUTPUT, --output OUTPUT
                         specify output files prefix (default: measures)
  -i IDLE, --idle IDLE   specify   idle   interval   between   tests   (ms)
                         (default: 1000)
  -x MAXPOWER, --maxPower MAXPOWER
                         specify   idle   interval   between   tests   (ms)
                         (default: 255)

Each test produce three csv file:

  • the head file contains the left power and the right power
  • the left file contains the left measures (elapsed time, number of pulses, power)
  • the right file contains the right measures (elapsed time, number of pulses, power)

StictionMeasures

The StictionMeasures java application runs a sets of random test to measure the stiction of robot.

Its usege is

usage: org.mmarini.wheelly.apps.StictionMeasures
       [-h] [-v] [-s SERVER] [-p PORT] [-o OUTPUT] [-w WAIT]
       [-i INTERVAL] [-t THRESHOLD] number

Run a session of measure tests.

positional arguments:
  number                 specify the number of tests

named arguments:
  -h, --help             show this help message and exit
  -v, --version          show current version
  -s SERVER, --server SERVER
                         specify robot server name  or ip address (default:
                         wheelly)
  -p PORT, --port PORT   specify robot server name  or ip address (default:
                         22)
  -o OUTPUT, --output OUTPUT
                         specify    output    files     prefix    (default:
                         stiction/test)
  -w WAIT, --wait WAIT   specify   idle   interval   between   tests   (ms)
                         (default: 1000)
  -i INTERVAL, --interval INTERVAL
                         specify the step time (ms) (default: 100)
  -t THRESHOLD, --threshold THRESHOLD
                         specify the threshold pulses (default: 10)

Measures

Each test produce three csv file:

  • the head file contains the left power and the right power
  • the left file contains the left measures (elapsed time, number of pulses, power)
  • the right file contains the right measures (elapsed time, number of pulses, power)

The measures gives the following parameters values for motor controllers

Stiction Results at 12V power supply

The stiction measures are:

Stiction result (produced by octave/stiction.m)

They generate the following parameters

Left forward P0 Left forward P1 Left backward P0 Left backward P1
50 75 -49 -65
Right forward P0 Right forward P1 Right backward P0 Right backward P1
37 57 -45 -68

Stiction Results at 8.5V power supply

The stiction measures are:

Stiction result (produced by octave/stiction.m)

They generate the following parameters

Left forward P0 Left forward P1 Left backward P0 Left backward P1
71 107 -62 -81
Right forward P0 Right forward P1 Right backward P0 Right backward P1
59 78 -62 -92

Release 0.9.0