Arm Diagnostic Programmer Notes

Group Name: g_armDiag

Development Path: vc_proj/RTSX/cs/ECI/g_armDiag/

Form Id: <armSubsystemID>4<digit>

<armSubsystemID> ::= "1" | "2" | "3" | "4"

according to subsystem Id for each arm, currently (DXL = 1, DXR = 2, PXL = 3, VID = 4)

<digit> ::= "0" | "1" | "2" | "3" | "4" | "5" |
"6" | "7" | "8" | "9"
This indicates the exact form

Contents

FormInformation
ARM Force/Torque Sensor Panel = armFT
ARM Gains Panel = armGains
ARM Temperature Panel = armTemp
ARM Torque Panel = armTorque
ARM Encoder Control = armEC
ARM Encoder Offsets = armOff
ARM Joint Telemetry = armJTTel

 Substitution Note: This is a template for each of the arms.

Every time your read "arm" it would be displayed as "_arM_" in the template file and as "dxl", "dxr", "pxl", and "vid" in the arm specific files.

Every time your read "ARM" it would be displayed as "_ArM_" in the template file and as "DXL", "DXR", "PXL", and "VID" in the arm specific files.

Form Infomation


ARM Force/Torque Sensor Panel = armFT

This panel displays the forces and torques registered on the Force/Torque sensor on each of the dexterous arms.

 Form Name: armFT

Label: "ARM Force/Torque Sensor"

Form Id: <armSubsystemID>11

 


ARM Gains Panel = armGains

This panel is used to upload new gains and encoder offsets to Ranger. Each degree of freedom(DOF) can be changed independently. No change occurs until a send button is pressed.

 Form Name: armGains

Label: "ARM Gains"

Form Id: <armSubsystemID>12

 

[0-9] Send lpu buttons -> armGains_sendLPUCB(<digit>)
where <digit> is from 0-9 indicating which DOF
    armGainsCmd1Ob j

 

[0-9] P Gains Input -> armGains_errorCheckCB(1<digit>)
where <digit> is from 0-9 indicating which DOF
     
armGainsCmd2Ob j
[0-9] I Gains Input -> armGains_errorCheckCB(2<digit>)
where <digit> is from 0-9 indicating which DOF
     
armGainsCmd3Ob j
[0-9] D Gains Input -> armGains_errorCheckCB(3<digit>)
    where <digit> is from 0-9 indicating which DOF
     
    armGainsTel1Obj
    [0-9] P Gains Verified Text boxes
     
    armGainsTel2Obj
    [0-9] I Gains Verified Text boxes
     
    armGainsTel3Obj
    [0-9] D Gains Verified Text boxes


ARM Temperature Panel = armTemp

This panel displays the velocity and temperature of each DOF.

 Form Name: armTemp

Label: "ARM Temperature"

Form Id: <armSubsystemID>13

where 0-9 indicates which DOF
 
armTempTel2Ob j
[0-9] Motor Temperature Input
where 0-9 indicates which DOF
 
armTempTel3Ob j
[0-9] M. Driver Temperature Input
where 0-9 indicates which DOF

 


ARM Torque Panel = armTorque

This panel displays information related to the torque being driven on each DOF.

 Form Name: armTorque

Label: "ARM Torque"

Form Id: <armSubsystemID>14

 

where 0-9 indicates which DOF
     
armTorqueTel2Ob j
[0-9] ReadBk Torque Input
where 0-9 indicates which DOF
 
armTorqueTel3Ob j
[0-9] Volt Input
where 0-9 indicates which DOF
 
armTorqueTel4Ob j
[0-9] Curr Input
where 0-9 indicates which DOF


ARM Encoder Control = armEC

This panel drives the encoders on a manipulator

 Form Name: armEC

Label: "ARM Encoder Control"

Form Id: <armSubsystemID>15

 

where <digit> is from 0-9 and indicates which DOF
     
armECCmd2Obj
[0-9] Command Inputs -> armEC_setEncoderCB(<digit>)
where <digit> is from 0-9 and indicates which DOF
 
armECCmd3Obj
[0-9] Down Arrow Buttons -> armEC_decrementCB(<digit>)
where <digit> is from 0-9 and indicates which DOF
 
armECTel1Ob j
[0-9] Inc Input
where 0-9 indicates which DOF
 
armECTel2Ob j
[0-9] Abs Input
where 0-9 indicates which DOF
 
armECTel3Ob j
[0-9] Comm Input
where 0-9 indicates which DOF


ARM Encoder Offsets = armOff

This panel allows the operator to change the encoder offsets

 Form Name: armOff

Label: "ARM Encoder Offsets"

Form Id: <armSubsystemID>16

 

where <digit> is from 0-9 and indicates which DOF
 
armOffCmd1Obj
[0-9] Incremental Inputs -> armOff_errorCheckCB(1<digit>)
where <digit> is from 0-9 and indicates which DOF
 
armOffCmd2Obj
[0-9] Absolute Inputs -> armOff_errorCheckCB(2<digit>)
where <digit> is from 0-9 and indicates which DOF
 
armOffCmd3Obj
[0-9] Commutative Inputs -> armOff_errorCheckCB(3<digit>)
where <digit> is from 0-9 and indicates which DOF
 
armOffTel1Ob j
[0-9] Incremental Text Boxes
where 0-9 indicates which DOF
 
armOffTel2Ob j
[0-9] Absolute Text Boxes
where 0-9 indicates which DOF
 
armOffTel3Ob j
[0-9] Commmutative Text Boxes
where 0-9 indicates which DOF


ARM Joint Telemetry = armJTTel

This panel shows the joint temperatures, torques, and positions graphically.

 Form Name: armJTTel

Label: "ARM Joint Telemtry"

Form Id: <armSubsystemID>17