icub-test
Public Member Functions
TorqueControlAccuracy Class Reference
A list of available tests

This tests checks the a torque PID response, sending a step reference signal with a setRefTorque command. More...

#include <TorqueControlAccuracy.h>

Inherits yarp::robottestingframework::TestCase.

Public Member Functions

virtual bool setup (yarp::os::Property &property)
 
virtual void tearDown ()
 
virtual void run ()
 
bool goHome ()
 
void executeCmd ()
 
void setMode (int desired_mode)
 
void saveToFile (std::string filename, yarp::os::Bottle &b)
 

Detailed Description

This tests checks the a torque PID response, sending a step reference signal with a setRefTorque command.

This test currently does not return any error report. It simply moves a joint, and saves data to a different file for each joint. The data acquired can be analized with a matalab script to evaluate the torque PID properties. Be aware that a step greater than 1 Nm may be dangerous for both the robot and the human operator!

example: testRunner -v -t TorqueControlAccuracy.dll -p "--robot icubSim --part head --joints ""(0 1 2)"" --zeros ""(0 0 0)"" --step 5 --cycles 10 --sampleTime 0.010" example: testRunner -v -t TorqueControlAccuracy.dll -p "--robot icubSim --part head --joints ""(2)"" --zeros ""(0)"" --step 5 --cycles 10 --sampleTime 0.010"

Accepts the following parameters:

Parameter name Type Units Default Value Required Description Notes
robot string - - Yes The name of the robot. e.g. icub
part string - - Yes The name of the robot part. e.g. left_arm
joints vector of ints - - Yes List of joints to be tested
zeros double deg - Yes The home position for each joint
cycles int - - Yes Each joint will be tested multiple times
step double Nm - Yes The amplitude of the step reference signal Recommended max: 1 Nm!
sampleTime double s - Yes The sample time of the control thread

Definition at line 52 of file TorqueControlAccuracy.h.

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