This tests checks if the motor encoder readings increase when positive pwm is applayed to motor. More...

#include <motorEncodersSignCheck.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions
virtual bool	setup (yarp::os::Property &property)

virtual void	tearDown ()

virtual void	run ()

void	setModeSingle (int i, int desired_control_mode, yarp::dev::InteractionModeEnum desired_interaction_mode)

void	OplExecute (int i)

Detailed Description

This tests checks if the motor encoder readings increase when positive pwm is applayed to motor.

This test helps you to check if RotorEncoderResolution parameter in robot's configuration files has correct sign. The test sets one joint per time in Open Loop control mode; then applies positive pwm starting with value defined in parameter "pwmStart" and increments pwm with step defined in parameter "pwmStep" until motor doesn't move of Posthreshold degree at least.

Note: This test uses yarp::robottestingframework::jointsPosMotion class, a class for reduce time in developing test.

Accepts the following parameters:

Parameter name	Type	Units	Default Value	Required	Description	Notes
robot	string	-	-	Yes	The name of the robot.	e.g. icub
name	string	-	-	No	The name of test.	e.g. motEncSignCheck_Head
part	string	-	-	Yes	The name of trhe robot part.	e.g. head
joints	vector of ints	-	-	Yes	List of joints to be tested
home	vector of doubles of size joints	deg	-	Yes	The home position for each joint. It should be distant from joint's limits
speed	vector of doubles of size joints	deg/s	-	Yes	The reference speed used during the movement
pwmStart	vector of doubles of size joints	-	-	Yes	The starting pwm applied to joint
pwmStep	vector of doubles of size joints	-	-	Yes	The increment of pwm per time
pwmMax	vector of doubles of size joints	-	-	Yes	The max pwm applicable
Posthreshold	vector of doubles of size joints	deg	5	No	The minumum movement to check if motor position increases
commandDelay	vector of doubles of size joints	deg	0.1	No	The delay between two SetRefOpenLooop commands consecutive

Definition at line 61 of file motorEncodersSignCheck.h.

Constructor & Destructor Documentation

◆ MotorEncodersSignCheck()

MotorEncodersSignCheck::MotorEncodersSignCheck ( )

Definition at line 39 of file motorEncodersSignCheck.cpp.

                                               : yarp::robottestingframework::TestCase("MotorEncodersSignCheck") {
    jointsList=0;
    dd=0;
    icmd=0;
    iimd=0;
    ienc=0;
    imenc=0;
    jPosMotion=0;
}

◆ ~MotorEncodersSignCheck()

MotorEncodersSignCheck::~MotorEncodersSignCheck ( )

virtual

Definition at line 49 of file motorEncodersSignCheck.cpp.

49{ }

Member Function Documentation

◆ OplExecute()

void MotorEncodersSignCheck::OplExecute ( int i )

Definition at line 175 of file motorEncodersSignCheck.cpp.

{
    char buff[500];
    double time     = yarp::os::Time::now();
    double time_old = yarp::os::Time::now();
    double enc=0;
    double start_enc=0;
    double const delta = 10;
    bool not_moving = true;
    double opl=opl_start[i];
 
    ipwm->setRefDutyCycle((int)jointsList[i], opl);
    double last_opl_cmd=yarp::os::Time::now();
    yarp::os::Time::delay(3.0); //i need to wait a while because when i set ref output zero, joint may move (due to stiction or gravity) and I should save the position when pwm=0
 
    imenc->getMotorEncoder((int)jointsList[i],&start_enc);
 
 
    while (not_moving)
    {
 
        ipwm->setRefDutyCycle(jointsList[i], opl);
        imenc->getMotorEncoder((int)jointsList[i],&enc);
 
        if(enc > start_enc+pos_threshold[i])
        {
            ipwm->setRefDutyCycle((int)jointsList[i], 0.0);
            not_moving=false;
            sprintf(buff,"TEST SUCCESS (pwm=%f) enc=%f start_enc=%f",opl, enc, start_enc);
            ROBOTTESTINGFRAMEWORK_TEST_REPORT(buff);
        }
        else if(enc < start_enc-pos_threshold[i])
        {
            ipwm->setRefDutyCycle((int)jointsList[i], 0.0);
            not_moving=false;
            ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(0, robottestingframework::Asserter::format("because enc readings drecrease enc=%f start_enc=%f (output=%f)", enc, start_enc, opl));
        }
        else if (jPosMotion->checkJointLimitsReached((int)jointsList[i]))
        {
            ipwm->setRefDutyCycle((int)jointsList[i], 0.0);
            not_moving=false;
            ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(0,robottestingframework::Asserter::format("Test failed because hw limit was touched (enc=%f)",enc));
        }
 
        if (yarp::os::Time::now()-last_opl_cmd>opl_delay[i])
        {
            opl+=opl_step[i];
            last_opl_cmd=yarp::os::Time::now();
        }
        if (opl>=opl_max[i])
        {
            ipwm->setRefDutyCycle((int)jointsList[i], 0.0);
            not_moving=false;
            ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE(0,robottestingframework::Asserter::format("Test failed failed because max output was reached(output=%f)",opl));
        }
 
        yarp::os::Time::delay(0.010);
 
        if (time-time_old>5.0 && not_moving==true)
        {
            sprintf(buff,"test in progress on joint %d, current output value = %f",(int)jointsList[i],opl);ROBOTTESTINGFRAMEWORK_TEST_REPORT(buff);
            time_old=time;
        }
    }
}

◆ run()

void MotorEncodersSignCheck::run ( )

virtual

Definition at line 241 of file motorEncodersSignCheck.cpp.

{
 
    char buff[500];
    jPosMotion->setAndCheckPosControlMode();
    jPosMotion->goTo(home);
 
 
    for (unsigned int i=0 ; i<jointsList.size(); i++)
    {
        double posout=0;
        ROBOTTESTINGFRAMEWORK_TEST_FAIL_IF_FALSE((ipid->getPidOutput(yarp::dev::PidControlTypeEnum::VOCAB_PIDTYPE_POSITION, (int)jointsList[i], &posout)),
                         robottestingframework::Asserter::format(" getOutput j %d return false",(int)jointsList[i]));
 
        setModeSingle(i,VOCAB_CM_PWM,VOCAB_IM_STIFF);
        ipwm->setRefDutyCycle((int)jointsList[i],0.0);
 
        ROBOTTESTINGFRAMEWORK_TEST_REPORT(robottestingframework::Asserter::format("Testing joint %d with starting pwm = %.2f. In position j had pwm = %.2f",(int)jointsList[i], opl_start[i], posout));
        OplExecute(i);
 
        jPosMotion->setAndCheckPosControlMode();
        jPosMotion->goTo(home);
 
    }
 
 }

◆ setModeSingle()

void MotorEncodersSignCheck::setModeSingle	(	int	i,
		int	desired_control_mode,
		yarp::dev::InteractionModeEnum	desired_interaction_mode
	)

Definition at line 168 of file motorEncodersSignCheck.cpp.

{
    icmd->setControlMode((int)jointsList[i],desired_control_mode);
    iimd->setInteractionMode((int)jointsList[i],desired_interaction_mode);
    yarp::os::Time::delay(0.010);
}

◆ setup()

bool MotorEncodersSignCheck::setup ( yarp::os::Property & property )

virtual

Definition at line 51 of file motorEncodersSignCheck.cpp.

                                                           {
 
    if(property.check("name"))
        setName(property.find("name").asString());
 
    // updating parameters
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("robot"),  "The robot name must be given as the test parameter!");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("part"),   "The part name must be given as the test parameter!");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("joints"), "The joints list must be given as the test parameter!");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("home"),   "The home position must be given as the test parameter!");
 
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("pwmStep"),    "The output_step must be given as the test parameter!");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(property.check("pwmMax"),     "The output_max must be given as the test parameter!");
 
    robotName = property.find("robot").asString();
    partName = property.find("part").asString();
 
    Bottle* homeBottle = property.find("home").asList();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(homeBottle!=0,"unable to parse zero parameter");
 
    Bottle* jointsBottle = property.find("joints").asList();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(jointsBottle!=0,"unable to parse joints parameter");
 
    Bottle* pwm_step_Bottle = property.find("pwmStep").asList();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(pwm_step_Bottle!=0,"unable to parse pwmStep parameter");
 
    Bottle* command_delay_Bottle = property.find("commandDelay").asList();
    if(command_delay_Bottle==0)
        ROBOTTESTINGFRAMEWORK_TEST_REPORT("Command delay not configured. default value (0.1 sec) will be used ");
 
 
    Bottle* pwm_max_Bottle = property.find("pwmMax").asList();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(pwm_max_Bottle!=0,"unable to parse joints parameter");
 
    Bottle* threshold_Bottle = property.find("PosThreshold").asList();
    if(threshold_Bottle==0)
        ROBOTTESTINGFRAMEWORK_TEST_REPORT("Position threshold not configured. default value (5 deg) will be used ");
 
    Bottle* pwm_start_Bottle = property.find("pwmStart").asList();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(pwm_start_Bottle!=0,"unable to parse pwmStart parameter");
 
 
    Property options;
    options.put("device", "remote_controlboard");
    options.put("remote", "/"+robotName+"/"+partName);
    options.put("local", "/mEncSignCheckTest/"+robotName+"/"+partName);
 
    dd = new PolyDriver(options);
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->isValid(),"Unable to open device driver");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(ipwm),"Unable to open pwm interface");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(ienc),"Unable to open encoders interface");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(icmd),"Unable to open control mode interface");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(iimd),"Unable to open interaction mode interface");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(imenc),"Unable to open interaction mode interface");
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(dd->view(ipid),"Unable to open ipidcontrol interface");
 
    if (!ienc->getAxes(&n_part_joints))
    {
        ROBOTTESTINGFRAMEWORK_ASSERT_ERROR("unable to get the number of joints of the part");
    }
 
    int n_cmd_joints = jointsBottle->size();
    ROBOTTESTINGFRAMEWORK_ASSERT_ERROR_IF_FALSE(n_cmd_joints>0 && n_cmd_joints<=n_part_joints,"invalid number of joints, it must be >0 & <= number of part joints");
    jointsList.clear();
    for (int i=0; i <n_cmd_joints; i++) jointsList.push_back(jointsBottle->get(i).asInt32());
 
    home.resize (n_cmd_joints);               for (int i=0; i< n_cmd_joints; i++) home[i]=homeBottle->get(i).asFloat64();
    opl_step.resize (n_cmd_joints);           for (int i=0; i< n_cmd_joints; i++) opl_step[i]=pwm_step_Bottle->get(i).asFloat64();
    opl_max.resize (n_cmd_joints);            for (int i=0; i< n_cmd_joints; i++) opl_max[i]=pwm_max_Bottle->get(i).asFloat64();
    opl_start.resize(n_cmd_joints);           for (int i=0; i< n_cmd_joints; i++) opl_start[i]=pwm_start_Bottle->get(i).asFloat64();
    pos_threshold.resize (n_cmd_joints);
    if(threshold_Bottle!=0)
    {
        for (int i=0; i< n_cmd_joints; i++)
            pos_threshold[i]=threshold_Bottle->get(i).asFloat64();
    }
    else
    {
        for (int i=0; i< n_cmd_joints; i++)
            pos_threshold[i]=5;
    }
 
    opl_delay.resize (n_cmd_joints);
    if(command_delay_Bottle!=0)
    {
        for (int i=0; i< n_cmd_joints; i++)
            opl_delay[i]=command_delay_Bottle->get(i).asFloat64();
    }
    else
    {
        for (int i=0; i< n_cmd_joints; i++)
            opl_delay[i]=0.1;
    }
 
    jPosMotion = new yarp::robottestingframework::jointsPosMotion(dd, jointsList);
    jPosMotion->setTolerance(2.0);
    jPosMotion->setTimeout(10); //10 sec
 
 
    return true;
}

◆ tearDown()

void MotorEncodersSignCheck::tearDown ( )

virtual

Definition at line 153 of file motorEncodersSignCheck.cpp.

{
    char buff[500];
    sprintf(buff,"Closing test module");ROBOTTESTINGFRAMEWORK_TEST_REPORT(buff);
    if(jPosMotion)
    {
        jPosMotion->setAndCheckPosControlMode();
        jPosMotion->goTo(home);
    }
    delete jPosMotion;
 
    if (dd) {delete dd; dd =0;}
}

The documentation for this class was generated from the following files:

/home/runner/work/icub-tests/icub-tests/gh-pages/src/motorEncodersSignCheck/motorEncodersSignCheck.h
/home/runner/work/icub-tests/icub-tests/gh-pages/src/motorEncodersSignCheck/motorEncodersSignCheck.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MotorEncodersSignCheck()

◆ ~MotorEncodersSignCheck()

Member Function Documentation

◆ OplExecute()

◆ run()

◆ setModeSingle()

◆ setup()

◆ tearDown()