Cats calibration

# Cats calibration > Current calibration procedure require qualified engineer > and manual setting of the parameters and edition of drill onboard configuration files. > Please be patient and careful! > > New user-friendly calibration software module is under development. ## Goal ![](https://habrastorage.org/webt/jl/ab/-c/jlab-cwy2tkluozerzp7p8rhli8.png) The goal of this procedure is to find: 1) The dead-band values for left and right cats control. To define dead-bands we need to find minimum controls, when drill just start moving forward and backward. Thus, dead-band is a range `[deadband_value_neg, deadband_value_pos]` where control makes no sense. 2) The range of control possible `[min_value, max_value]`: maximum forward and backward control values for left and right cats. We need to find such a control value, that increasing it has no effect. ## Pre-requirements Expected preconditions to perform cats_calibration: - the vehicle is on a flat surface with enough free space to move around; - software is run as usual; - you and drill are free from any other tasks: no demonstrations, checks and so on; - operator must control than no obstacles exist and prevent collisions by switch to manual control. ## Step 1: Open 3 Terminals Connected to the Drill ### 1.1 Current Remote Controls View Terminal Open a new terminal. Connect to drill terminal via ssh: ```commandline ssh vist@10.23.9.7 ``` Enter password `12345678` if required. Run the following command to view current remote controls: ```commandline rostopic echo /remote_cats_control ``` This will continuously print current values. Use this terminal to view current remote controls with good precision. Note: controls are in range [-1; 1], that means 1 is 100% control forward, -1 is 100% control backward. ### 1.2 Current Real Cats Speeds View Terminal Open a new terminal. Connect to drill terminal via ssh: ```commandline ssh vist@10.23.9.7 ``` Enter password `12345678` if required. Run the following command to view current remote controls: ```commandline rostopic echo /st/cat_fb ``` This will continuously print current values. Use this terminal to view current real cats speeds. Note: left and right cats speeds (shown separately) are in m/s. ### 1.3 Commands Terminal Open a new terminal. Connect to drill terminal via ssh: ```commandline ssh vist@10.23.9.7 ``` **Attention:** Use this terminal to run all the following commands. ## Step 2: Set Defaults for Cats Control Ranges Run the following command in a previously opened `Commands Terminal` (you could copy the entire commands and paste in terminal): ### 2.1 Set Parameters ```commandline rosparam set /CanNode/IOs/cat_left/deadband_value_pos 0 rosparam set /CanNode/IOs/cat_right/deadband_value_pos 0 rosparam set /CanNode/IOs/cat_left/deadband_value_neg 0 rosparam set /CanNode/IOs/cat_right/deadband_value_neg 0 rosparam set /CanNode/IOs/cat_left/max_value 1000 rosparam set /CanNode/IOs/cat_right/max_value 1000 rosparam set /CanNode/IOs/cat_left/min_value -1000 rosparam set /CanNode/IOs/cat_right/min_value -1000 ``` ### 2.2 Apply Parameters To apply parameters you need to restart CAN software module by running: ```commandline rosnode kill /CanNode ``` You will see messages `killing /CanNode', 'killed` in terminal and error messages in RMO debug output starting from ```commandline [INFO] [1660986712.670438]: CanNode: Shutting down ``` The RMO will report failure, don't worry, it's ok. Just clear errors by `Borrar error` button. Now default parameters are set and applied. ## Step 3: Find Dead-bands What we need to do next is to find dead-bands: minimum controls, when drill just start moving. > Note: > In Real Cats Speeds View Terminal you see current real cats_speeds in m/s. <br> > Minimum cat speed is usually less 0.04 (4 cm per second). <br> > Try to move at a speed no faster than this. ### 3.1 Switch to Remote Driving Control - Switch RMO to remote driving control, give move permission; - During control, it could be convenient to switch the Nonlinear mode on/off for joysticks in RMO touch window; ### 3.2 Find Forward Dead-band Value for Left (Cabin-side) Cat - Move the _left_ cat joystick slowly _forward_ until drill just starts moving; Check feedback (current real cats_speeds) in `Real Cats Speeds View Terminal`. - Write down the control of the _left_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_left`, 3 digits after `0.`) that starts the drill moving with the name `cat_left/deadband_value_pos`. - You could repeat to be sure, that control value you found is minimum. ### 3.3 Find Forward Dead-band Value for Right (Non-cabin-side) Cat - Move the _right_ cat joystick slowly _forward_ until drill just starts moving; Check feedback (current real cats_speeds) in `Real Cats Speeds View Terminal` - Write down the control of the _right_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_right`, 3 digits after `0.`) that starts the drill moving with the name `cat_right/deadband_value_pos`. - You could repeat to be sure, that control value you found is minimum. ### 3.4 Find Backward Dead-band Value for Left (Cabin-side) Cat - Move the _left_ cat joystick slowly _backward_ until drill just starts moving; - Write down the control of the _left_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_left`, 3 digits after `0.`) that starts the drill moving with the name `cat_left/deadband_value_neg`. - You could repeat to be sure, that control value you found is minimum. ### 3.5 Find Backward Dead-band Value for Right (Non-cabin-side) Cat - Move the _right_ cat joystick slowly _backward_ until drill just starts moving; - Write down the control of the _right_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_right`, 3 digits after `0.`) that starts the drill moving with the name `cat_right/deadband_value_neg`. - You could repeat to be sure, that control value you found is minimum. ## Step 4: Find Maximum Control Range > Note: > In Real Cats Speeds View Terminal you see current real cats_speeds in m/s. <br> > Maximum cat speed is usually about 0.4 — 0.5 (meters per second). <br> Next part is about maximum ranges of control. We need to find such a control value, that increasing it has no effect. Be careful, drill should move fast. ### 4.1 Find Maximum Forward Control for Left (Cabin-side) Cat - Move _left_ cat joystick slowly forward until you feel control increasing has no effect. - Write down the control of the _left_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_left`, 3 digits after `0.`), when increasing has no effect, with the name `cat_left/max_value`. > You should also control the _right_ cat forward for straight motion, but at this step, you should find the _left_ control maximum. > **Attention!** If one track has maximum velocity bigger then another, move with the lowest maximum velocity to avoid turning. > `max_value` should be set taking into account this condition (it could be less than actual maximum for one track to keep it balanced). ### 4.2 Find Maximum Forward Control for Right (Non-cabin-side) Cat - Move _right_ cat joystick slowly forward until you feel control increasing has no effect. - Write down the control of the _right_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_right`, 3 digits after `0.`), when increasing has no effect, with the name `cat_right/max_value`. > You should also control the _left_ cat forward for straight motion, but at this step, you should find the _right_ control maximum. > **Attention!** If one track has maximum velocity bigger then another, move with the lowest maximum velocity to avoid turning. > `max_value` should be set taking into account this condition (it could be less than actual maximum for one track to keep it balanced). ### 4.3 Find Maximum Backward Control for Left (Cabin-side) Cat - Move _left_ cat joystick slowly backward until you feel control increasing has no effect. - Write down the control of the _left_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_left`, 3 digits after `0.`), when increasing has no effect, with the name `cat_left/min_value`. > You should also control the _right_ cat backward for straight motion, but at this step, you should find the _left_ control maximum. > **Attention!** If one track has maximum velocity bigger then another, move with the lowest maximum velocity to avoid turning. > `max_value` should be set taking into account this condition (it could be less than actual maximum for one track to keep it balanced). ### 4.4 Find Maximum Backward Control for Right (Non-cabin-side) Cat - Move _right_ cat joystick slowly backward until you feel control increasing has no effect. - Write down the control of the _right_ joystick (get it from `Current Remote Controls View Terminal`, field `cat_right`, 3 digits after `0.`), when increasing has no effect, with the name `cat_right/min_value`. > You should also control the _left_ cat backward for straight motion, but at this step, you should find the _right_ control maximum. > **Attention!** If one track has maximum velocity bigger then another, move with the lowest maximum velocity to avoid turning. > `max_value` should be set taking into account this condition (it could be less than actual maximum for one track to keep it balanced). ### Result Now you should have 8 values of the following parameters: | cat | param | value | |--------------|--------------------------|-------| | cat_left | deadband_value_pos | | | cat_right | deadband_value_pos | | | cat_left | deadband_value_neg | | | cat_right | deadband_value_neg | | | cat_left | max_value | | | cat_right | max_value | | | cat_left | min_value | | | cat_right | min_value | | > The control range is `[-1000, 1000]`, so multiply the controls viewed in `Current Remote Controls View Terminal` by 1000. > > Usual values for min/max params are in the range ±600-900, dead-band values ±250-550. Switch move permission at RMO to Off. ## 5 Apply and Test New Parameters ### 5.1 Set New Parameters As during step 2, set parameters, filling with values you got: ```commandline rosparam set /CanNode/IOs/cat_left/deadband_value_pos value_you_found * 1000 rosparam set /CanNode/IOs/cat_right/deadband_value_pos value_you_found * 1000 rosparam set /CanNode/IOs/cat_left/deadband_value_neg value_you_found * 1000 rosparam set /CanNode/IOs/cat_right/deadband_value_neg value_you_found * 1000 rosparam set /CanNode/IOs/cat_left/max_value value_you_found * 1000 rosparam set /CanNode/IOs/cat_right/max_value value_you_found * 1000 rosparam set /CanNode/IOs/cat_left/min_value value_you_found * 1000 rosparam set /CanNode/IOs/cat_right/min_value value_you_found * 1000 ``` **Attention** don't forget to multiply your values by 1000, because the range here is `[-1000; 1000]` and control range was `[-1; 1]`. ### 5.2 Apply Parameters To apply parameters you need to restart the CAN software module by running: ```commandline rosnode kill /CanNode ``` Clear errors by `Borrar error` button in RMO. ### 5.3 Test - Switch RMO to remote driving control, give move permission; - Drive via remote control as usual. Evaluate the smoothness of the caterpillar control. - If satisfied, go to the next step, if not, repeat steps 2 — 4. ## Step 6: Permanently Save Parameters ### 6.1 Go to Configs Dir In terminal go to the path with config files: ```commandline roscd drill_launch_pack/params/drill/ ``` ### 6.2 Open Config File with Editor ```commandline nano nodes.yaml ``` ### 6.3 Find cats configs Press 'ctrl + w', type 'cat_left' You'll see: ```text cat_left: can_channel: '/can_5/rx' value_field: 'cat_left' protocol: 'x90CatCtrl' min_value: ... ``` Edit all 8 values: min/max, dead-band neg/pos for left/right caterpillar tracks. ### 6.4 Save File Press `ctrl + x`. You'll get a save dialog ```commandline Save modified buffer? Y Yes N No ^C Cancel ``` Press `Y` to save. ### 6.5 Test Perform soft drill reset. Test remote moving control.

Syntax	Example	Reference
# Header	Header	基本排版
- Unordered List	Unordered List
1. Ordered List	Ordered List
- [ ] Todo List	Todo List
> Blockquote	Blockquote
Bold font	Bold font
Italics font	Italics font
~~Strikethrough~~	~~Strikethrough~~
19^th^	19^th
H~2~O	H₂O
++Inserted text++	Inserted text
==Marked text==	Marked text
[link text](https:// "title")	Link
![image alt](https:// "title")	Image
`Code`	`Code`	在筆記中貼入程式碼
```javascript var i = 0; ```	`var i = 0;`
:smile:		Emoji list
{%youtube youtube_id %}	Externals
$L^aT_eX$	L^aT_eX
:::info This is a alert area. :::	This is a alert area.