Calibration guide

Calibration of the the robot after assembly

In the include folder situated in the Arduino code, there is an array named compensationArrayMec in qd_hw_config.h to add small compensations to every joints and calibrate the initial position.

How to calibrate the initial position (mechanical compensations) :

• Send the code to the Arduino as it is with PlatformIO (this line should be in the setup moveMotor(initPositions);)
• The robot should be in his initial position but with slight offsets (Hip and Tibia parallel to the body | Femur perpendicular to the body)
• Play with the values in compensationArrayMec to get rid of these offsets and get a straight initial position

Pt ajouter les sens de rotation

Calibrating the joint limits

This step should be done after the calibration of the initial position. In the same file as the previous step (qd_hw_config.h) there is a two dimensional array named jointLimit where the angle values are in degrees. Each joint as an upper and lower angle limit to set to protect the robot from colliding with itself.

How to calibrate the joint limits :

• Add these two arrays as global variables in the main.cpp file of the Arduino code : float configurableJointDefinition[12] = {0,0,0,0,0,0,0,0,0,0,0,0}; float position[12];
• Replace the setup with this one (keep the previous setup to restore it after the calibration) :

void setup() {
  servoInit();
  computeLimits();
  for (int i = 0; i < 12; i++)
  {
    position[i] = initPositions[i] + configurableJointDefinition[i];
  }
  moveMotor(initPositions);
  moveMotor(configurableJointDefinition);
  rosInit();
}