From 513ec73f0459b2f6cc1959e615d74dff0492de17 Mon Sep 17 00:00:00 2001 From: Denys Bezmenov Date: Wed, 23 Oct 2024 12:23:20 -0700 Subject: [PATCH 1/6] replaced dynamixel sdk with openlch library --- requirements_bam.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements_bam.txt b/requirements_bam.txt index 3d651c3..47c2174 100644 --- a/requirements_bam.txt +++ b/requirements_bam.txt @@ -1,7 +1,7 @@ zmq protobuf==3.20 numpy -dynamixel_sdk +openlch optuna cmaes wandb From 6df8cb0c9025928160ac667a6279c44304007cb6 Mon Sep 17 00:00:00 2001 From: Denys Bezmenov Date: Wed, 23 Oct 2024 14:16:59 -0700 Subject: [PATCH 2/6] BAM feetech --- bam/feetech/__init__.py | 0 bam/feetech/all_record.py | 37 +++++++++++++++++ bam/feetech/feetech.py | 71 +++++++++++++++++++++++++++++++++ bam/feetech/record.py | 83 +++++++++++++++++++++++++++++++++++++++ requirements_bam.txt | 2 + 5 files changed, 193 insertions(+) create mode 100644 bam/feetech/__init__.py create mode 100644 bam/feetech/all_record.py create mode 100644 bam/feetech/feetech.py create mode 100644 bam/feetech/record.py diff --git a/bam/feetech/__init__.py b/bam/feetech/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/bam/feetech/all_record.py b/bam/feetech/all_record.py new file mode 100644 index 0000000..5f2fbac --- /dev/null +++ b/bam/feetech/all_record.py @@ -0,0 +1,37 @@ +import argparse +import os +import time + + +arg_parser = argparse.ArgumentParser() +arg_parser.add_argument("--mass", type=float, required=True) +arg_parser.add_argument("--length", type=float, required=True) +arg_parser.add_argument("--motor", type=str, required=True) +arg_parser.add_argument("--ip", type=str, default="192.168.42.1") +arg_parser.add_argument("--logdir", type=str, required=True) +arg_parser.add_argument("--speak", action="store_true") +args = arg_parser.parse_args() + +kps = [32] +trajectories = ["sin_sin", "lift_and_drop", "up_and_down", "sin_time_square"] + +command_base = f"python3 feetech/record.py --mass {args.mass} --length {args.length}" +command_base += f" --ip {args.ip} --logdir {args.logdir} --motor {args.motor}" + + +for kp in kps: + for trajectory in trajectories: + sentence = f"Kp {kp}, trajectory {trajectory.replace('_', ' ')}" + print(sentence) + + if args.speak: + from gtts import gTTS + myobj = gTTS(text=sentence, lang='en', slow=False) + myobj.save("/tmp/message.mp3") + os.system("mpg321 /tmp/message.mp3") + + command = f"{command_base} --kp {kp} --trajectory {trajectory}" + os.system(command) + + if trajectory == "sin_time_square": + time.sleep(3) diff --git a/bam/feetech/feetech.py b/bam/feetech/feetech.py new file mode 100644 index 0000000..46028e6 --- /dev/null +++ b/bam/feetech/feetech.py @@ -0,0 +1,71 @@ +import os +import numpy as np +from openlch import hal as olch_hal + +# Torque enable +ADDR_TORQUE_ENABLE = 24 +# P Gain +ADDR_P_GAIN = 28 +# Goal position +ADDR_GOAL_POSITION = 30 +# Present position (2 bytes) +ADDR_PRESENT_POSITION = 36 +# Present speed (2 bytes) +ADDR_PRESENT_SPEED = 38 +# Present load (2 bytes) +ADDR_PRESENT_LOAD = 40 +# Present voltage (1 byte) +ADDR_PRESENT_VOLTAGE = 42 +# Present temperature (1 byte) +ADDR_PRESENT_TEMPERATURE = 43 + + +class FeetechSTS3250: + def __init__(self, ip: str, id: int = 1): + self.id = id + self.hal = olch_hal.HAL(ip) + self.servo = self.hal.servo + + def set_p_gain(self, gain: int): + pass + # Set P gain + + ## unimplemented + + def set_torque(self, enable: bool): + pass + # Enable torque + ## unimplemented, torque is always enabled + + def set_goal_position(self, position: float): + # convert to degrees + position = position * 180.0 / np.pi + self.servo.set_positions([(self.id, position)]) + + def read_data(self): + # Reading position, speed, load, voltage and temperature + + data = self.servo.get_servo_info(self.id) + + # Position is in degrees (convert to radians) + position = data["current_position"] / 180.0 * np.pi + + # Speed is degrees per second (convert to rpm) + speed = data["speed"] / 6.0 + + # Applied "load" + load = 0 # unimplemented + + # Voltage is a byte value, units are 0.1 V + volts = data["voltage"] + + # Temperature are °C + temp = data["temperature"] + + return { + "position": position, + "speed": speed, + "load": load, + "input_volts": volts, + "temp": temp, + } diff --git a/bam/feetech/record.py b/bam/feetech/record.py new file mode 100644 index 0000000..15cae31 --- /dev/null +++ b/bam/feetech/record.py @@ -0,0 +1,83 @@ +import json +import datetime +import os +import numpy as np +import argparse +import time +from bam.feetech import feetech +from bam.trajectory import * + +arg_parser = argparse.ArgumentParser() +arg_parser.add_argument("--mass", type=float, required=True) +arg_parser.add_argument("--length", type=float, required=True) +arg_parser.add_argument("--ip", type=str, default="192.168.42.1") +arg_parser.add_argument("--logdir", type=str, required=True) +arg_parser.add_argument("--trajectory", type=str, default="lift_and_drop") +arg_parser.add_argument("--motor", type=str, required=True) +arg_parser.add_argument("--kp", type=int, default=32) +arg_parser.add_argument("--vin", type=float, default=12.0) +arg_parser.add_argument("--id", type=int, default=1) +args = arg_parser.parse_args() + +if args.trajectory not in trajectories: + raise ValueError(f"Unknown trajectory: {args.trajectory}") + +servo = feetech.FeetechSTS3250(args.ip, id=args.id) +trajectory = trajectories[args.trajectory] + +start = time.time() +while time.time() - start < 1.0: + goal_position, torque_enable = trajectory(0) + if torque_enable: + servo.set_goal_position(goal_position) + servo.set_torque(torque_enable) + servo.set_p_gain(args.kp) + +start = time.time() +data = { + "mass": args.mass, + "length": args.length, + "kp": args.kp, + "vin": args.vin, + "motor": args.motor, + "trajectory": args.trajectory, + "entries": [] +} + +while time.time() - start < trajectory.duration: + t = time.time() - start + goal_position, new_torque_enable = trajectory(t) + if new_torque_enable != torque_enable: + servo.set_torque(new_torque_enable) + torque_enable = new_torque_enable + time.sleep(0.001) + if torque_enable: + servo.set_goal_position(goal_position) + time.sleep(0.001) + + t0 = time.time() - start + entry = servo.read_data() + t1 = time.time() - start + + entry["timestamp"] = (t0 + t1) / 2.0 + entry["goal_position"] = goal_position + entry["torque_enable"] = torque_enable + data["entries"].append(entry) + +goal_position = data["entries"][-1]["position"] +return_dt = 0.01 +max_variation = return_dt * 1.0 +while abs(goal_position) > 0: + if goal_position > 0: + goal_position = max(0, goal_position - max_variation) + else: + goal_position = min(0, goal_position + max_variation) + servo.set_goal_position(goal_position) + time.sleep(return_dt) +servo.set_torque(False) + +#Format YYYY-MM-DD_HH:mm:ss" +date = datetime.datetime.now().strftime("%Y-%m-%d_%Hh%Mm%S") + +filename = f"{args.logdir}/{date}.json" +json.dump(data, open(filename, "w")) diff --git a/requirements_bam.txt b/requirements_bam.txt index 47c2174..d8a1662 100644 --- a/requirements_bam.txt +++ b/requirements_bam.txt @@ -1,6 +1,7 @@ zmq protobuf==3.20 numpy +dynamixel_sdk openlch optuna cmaes @@ -8,3 +9,4 @@ wandb matplotlib pygame colorama +protobuf==5.28.2 From 3fc5fdf36149e55b615247a58f873b73a94232ca Mon Sep 17 00:00:00 2001 From: Denys Bezmenov Date: Fri, 25 Oct 2024 18:48:34 -0700 Subject: [PATCH 3/6] something --- bam/actuator.py | 62 ++++++++++++++++++++++++++++++++++++++++++ bam/feetech/feetech.py | 18 ++++++++---- requirements_bam.txt | 3 +- 3 files changed, 75 insertions(+), 8 deletions(-) diff --git a/bam/actuator.py b/bam/actuator.py index 0dc1713..ac16993 100644 --- a/bam/actuator.py +++ b/bam/actuator.py @@ -252,9 +252,71 @@ def compute_torque(self, control: float | None, q: float, dq: float) -> float: return torque +class Sts3250(Actuator): + """ + Represents an STS3250 position-controlled servo motor actuator + """ + + def __init__(self, testbench_class: Testbench): + super().__init__(testbench_class) + + # Position control gain + self.kp: float = 1.0 # Initial gain value, adjust as needed + + # Maximum torque output [Nm] + self.max_torque: float = 3.0 # Adjust based on STS3250 specifications + + # Maximum speed [rad/s] + self.max_speed: float = 5.0 # Adjust based on STS3250 specifications + + def load_log(self, log: dict): + super().load_log(log) + + if "kp" in log: + self.kp = log["kp"] + + def initialize(self): + # We don't have access to internal motor parameters, so we'll model overall behavior + self.model.stiffness = Parameter(64.1, 10.0, 1000.0) # Position control stiffness + self.model.damping = Parameter(5.224, 0.1, 10.0) # Damping coefficient + self.model.inertia = Parameter(0.00961, 0.00001, 0.001) # Apparent inertia + + def get_extra_inertia(self) -> float: + return self.model.inertia.value + + def control_unit(self) -> str: + return "position" + + def compute_control( + self, position_error: float, q: float, dq: float + ) -> float | None: + # For a position-controlled servo, we return the target position + return q + position_error + + def compute_torque(self, control: float | None, q: float, dq: float) -> float: + if control is None: + return 0.0 + + target_position = control + + # Compute torque based on position error and velocity + position_error = target_position - q + torque = self.model.stiffness.value * position_error - self.model.damping.value * dq + + # Limit torque based on maximum torque specification + torque = np.clip(torque, -self.max_torque, self.max_torque) + + # Limit torque based on maximum speed + if abs(dq) > self.max_speed: + torque = 0.0 + + return torque + + actuators = { "mx64": lambda: MXActuator(Pendulum), "mx106": lambda: MXActuator(Pendulum), "erob80_100": lambda: Erob(Pendulum, damping=2.0), "erob80_50": lambda: Erob(Pendulum, damping=1.0), + "sts3250": lambda: Sts3250(Pendulum), } diff --git a/bam/feetech/feetech.py b/bam/feetech/feetech.py index 46028e6..35adb1e 100644 --- a/bam/feetech/feetech.py +++ b/bam/feetech/feetech.py @@ -33,9 +33,7 @@ def set_p_gain(self, gain: int): ## unimplemented def set_torque(self, enable: bool): - pass - # Enable torque - ## unimplemented, torque is always enabled + self.servo.set_torque_enable([(self.id, enable)]) def set_goal_position(self, position: float): # convert to degrees @@ -45,13 +43,21 @@ def set_goal_position(self, position: float): def read_data(self): # Reading position, speed, load, voltage and temperature - data = self.servo.get_servo_info(self.id) + max_retries = 10 + retry_count = 0 + while retry_count < max_retries: + data = self.servo.get_servo_info(self.id) + if data['temperature'] != 0.0: + break + retry_count += 1 + if retry_count == max_retries: + print(f"Warning: Failed to get non-zero data after {max_retries} attempts") # Position is in degrees (convert to radians) position = data["current_position"] / 180.0 * np.pi - # Speed is degrees per second (convert to rpm) - speed = data["speed"] / 6.0 + # Speed is degrees per second (convert to rad/s) + speed = data["speed"] / 180.0 * np.pi # Applied "load" load = 0 # unimplemented diff --git a/requirements_bam.txt b/requirements_bam.txt index d8a1662..0212eb7 100644 --- a/requirements_bam.txt +++ b/requirements_bam.txt @@ -8,5 +8,4 @@ cmaes wandb matplotlib pygame -colorama -protobuf==5.28.2 +colorama \ No newline at end of file From b53408c590cb4d65f90abd25fe062ddd00505a93 Mon Sep 17 00:00:00 2001 From: Denys Bezmenov Date: Sat, 26 Oct 2024 13:06:28 -0700 Subject: [PATCH 4/6] captured values & fitting --- bam/actuator.py | 12 +++++++----- data_raw_feetech/2024-10-26_12h23m27.json | 1 + data_raw_feetech/2024-10-26_12h23m42.json | 1 + data_raw_feetech/2024-10-26_12h24m55.json | 1 + data_raw_feetech/2024-10-26_12h27m27.json | 1 + params/feetech/m6.json | 1 + 6 files changed, 12 insertions(+), 5 deletions(-) create mode 100644 data_raw_feetech/2024-10-26_12h23m27.json create mode 100644 data_raw_feetech/2024-10-26_12h23m42.json create mode 100644 data_raw_feetech/2024-10-26_12h24m55.json create mode 100644 data_raw_feetech/2024-10-26_12h27m27.json create mode 100644 params/feetech/m6.json diff --git a/bam/actuator.py b/bam/actuator.py index ac16993..4e50f03 100644 --- a/bam/actuator.py +++ b/bam/actuator.py @@ -261,13 +261,13 @@ def __init__(self, testbench_class: Testbench): super().__init__(testbench_class) # Position control gain - self.kp: float = 1.0 # Initial gain value, adjust as needed + self.kp: float = 32.0 # Initial gain value, adjust as needed # Maximum torque output [Nm] - self.max_torque: float = 3.0 # Adjust based on STS3250 specifications + self.max_torque: float = 4.9 # Adjust based on STS3250 specifications # Maximum speed [rad/s] - self.max_speed: float = 5.0 # Adjust based on STS3250 specifications + self.max_speed: float = 7.853 # Adjust based on STS3250 specifications def load_log(self, log: dict): super().load_log(log) @@ -277,9 +277,11 @@ def load_log(self, log: dict): def initialize(self): # We don't have access to internal motor parameters, so we'll model overall behavior - self.model.stiffness = Parameter(64.1, 10.0, 1000.0) # Position control stiffness - self.model.damping = Parameter(5.224, 0.1, 10.0) # Damping coefficient + self.model.stiffness = Parameter(130.1, 1.0, 500.0) # Position control stiffness + self.model.damping = Parameter(6, 0.1, 10.0) # Damping coefficient self.model.inertia = Parameter(0.00961, 0.00001, 0.001) # Apparent inertia + self.model.friction_base = Parameter(0.0485, 0.0, 0.5) + self.model.friction_viscous = Parameter(0.0358, 0.0, 0.5) def get_extra_inertia(self) -> float: return self.model.inertia.value diff --git a/data_raw_feetech/2024-10-26_12h23m27.json b/data_raw_feetech/2024-10-26_12h23m27.json new file mode 100644 index 0000000..993ff4d --- /dev/null +++ b/data_raw_feetech/2024-10-26_12h23m27.json @@ -0,0 +1 @@ +{"mass": 1.13, "length": 0.12, "kp": 32, "vin": 12.0, "motor": "sts3250", "trajectory": "sin_sin", "entries": [{"position": 0.0015339807878856412, "speed": 0.07669903939428206, "load": 0, "input_volts": 12.4, "temp": 19.0, "timestamp": 0.013696789741516113, "goal_position": 7.864772933845965e-06, "torque_enable": true}, {"position": 0.0030679615757712823, "speed": 0.27304858024364415, "load": 0, "input_volts": 12.6, "temp": 19.0, "timestamp": 0.03430640697479248, "goal_position": 0.03490708018719342, "torque_enable": true}, {"position": 0.03681553890925539, "speed": 1.227184630308513, "load": 0, "input_volts": 12.5, "temp": 19.0, "timestamp": 0.0624769926071167, "goal_position": 0.07339634379255582, "torque_enable": true}, {"position": 0.05522330836388308, "speed": 0.9203884727313847, "load": 0, "input_volts": 11.6, "temp": 19.0, "timestamp": 0.09077084064483643, "goal_position": 0.1506776396736496, "torque_enable": true}, {"position": 0.09817477042468103, "speed": 1.8407769454627694, "load": 0, 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1.2566832062077253, "torque_enable": true}, {"position": 1.2425244381873692, "speed": 0.0, "load": 0, "input_volts": 12.3, "temp": 23.0, "timestamp": 6.012980937957764, "goal_position": 1.2566370891025755, "torque_enable": true}]} \ No newline at end of file diff --git a/params/feetech/m6.json b/params/feetech/m6.json new file mode 100644 index 0000000..c61e8f7 --- /dev/null +++ b/params/feetech/m6.json @@ -0,0 +1 @@ +{"stiffness": 67.32087212525703, "damping": 2.3451295894765924, "inertia": 0.0009998250120449165, "friction_base": 0.19851639530453832, "friction_viscous": 0.03485439607770722, "friction_stribeck": 0.0439245002153065, "load_friction_motor": 9.0918406563577e-07, "load_friction_external": 0.19573364292934822, "load_friction_motor_stribeck": 0.029531012135343995, "load_friction_external_stribeck": 0.4179007617885853, "load_friction_motor_quad": 0.001512376494937079, "load_friction_external_quad": 0.00941737828184932, "dtheta_stribeck": 0.058658129687505375, "alpha": 1.592838833546467, "model": "m6", "actuator": "sts3250"} \ No newline at end of file From eb464a835974dcb4a3f74b8f85965af1a712c343 Mon Sep 17 00:00:00 2001 From: budzianowski Date: Mon, 28 Oct 2024 14:03:24 -0700 Subject: [PATCH 5/6] update the setup --- bam/actuator.py | 14 ++++++++------ bam/export_values.py | 31 +++++++++++++++++++++++++++++++ params/feetech/m6.json | 19 ++++++++++++++++++- 3 files changed, 57 insertions(+), 7 deletions(-) create mode 100644 bam/export_values.py diff --git a/bam/actuator.py b/bam/actuator.py index 4e50f03..c32f7ea 100644 --- a/bam/actuator.py +++ b/bam/actuator.py @@ -277,14 +277,16 @@ def load_log(self, log: dict): def initialize(self): # We don't have access to internal motor parameters, so we'll model overall behavior - self.model.stiffness = Parameter(130.1, 1.0, 500.0) # Position control stiffness - self.model.damping = Parameter(6, 0.1, 10.0) # Damping coefficient - self.model.inertia = Parameter(0.00961, 0.00001, 0.001) # Apparent inertia - self.model.friction_base = Parameter(0.0485, 0.0, 0.5) - self.model.friction_viscous = Parameter(0.0358, 0.0, 0.5) + # Torque constant [Nm/A] or [V/(rad/s)] + self.model.damping = Parameter(1.0, 0.1, 3.0) + self.model.stiffness = Parameter(10, 1.0, 120.0) # Position control stiffness + self.model.armature = Parameter(0.005, 0.001, 0.05) + # self.model.inertia = Parameter(0.00961, 0.00001, 0.001) # Apparent inertia + # self.model.friction_base = Parameter(0.0485, 0.0, 0.5) + # self.model.friction_viscous = Parameter(0.0358, 0.0, 0.5) def get_extra_inertia(self) -> float: - return self.model.inertia.value + return self.model.armature.value def control_unit(self) -> str: return "position" diff --git a/bam/export_values.py b/bam/export_values.py new file mode 100644 index 0000000..24d55b5 --- /dev/null +++ b/bam/export_values.py @@ -0,0 +1,31 @@ +from .model import models, load_model +from .actuator import actuators +import argparse + +parser = argparse.ArgumentParser() +parser.add_argument("--vin", type=float, default=5.1, help="VIN value") +parser.add_argument("--kp_firmware", type=int, default=1100, help="KP_FIRMWARE value") +parser.add_argument("--params", type=str, default="params.json") +args = parser.parse_args() + +breakpoint() +# TODO: Load model from JSON identified file +model = load_model(args.params) +# model = models["m1"]() +# model.set_actuator(actuators["xc330m288t"]()) + +viscous = model.friction_viscous.value +frictionloss = model.friction_base.value +kt = model.kt.value +R = model.R.value +armature = model.armature.value + +forcerange = args.vin * kt / R +kp = model.actuator.error_gain * args.kp_firmware * args.vin * kt / R +damping = viscous + kt**2 / R + +print(f"Armature: {armature}") +print(f"Force range: {forcerange}") +print(f"Kp: {kp}") +print(f"Friction loss: {frictionloss}") +print(f"Damping: {damping}") \ No newline at end of file diff --git a/params/feetech/m6.json b/params/feetech/m6.json index c61e8f7..8bfa2c5 100644 --- a/params/feetech/m6.json +++ b/params/feetech/m6.json @@ -1 +1,18 @@ -{"stiffness": 67.32087212525703, "damping": 2.3451295894765924, "inertia": 0.0009998250120449165, "friction_base": 0.19851639530453832, "friction_viscous": 0.03485439607770722, "friction_stribeck": 0.0439245002153065, "load_friction_motor": 9.0918406563577e-07, "load_friction_external": 0.19573364292934822, "load_friction_motor_stribeck": 0.029531012135343995, "load_friction_external_stribeck": 0.4179007617885853, "load_friction_motor_quad": 0.001512376494937079, "load_friction_external_quad": 0.00941737828184932, "dtheta_stribeck": 0.058658129687505375, "alpha": 1.592838833546467, "model": "m6", "actuator": "sts3250"} \ No newline at end of file +{ + "damping": 2.6728113376774156, + "stiffness": 69.35578881361153, + "armature": 0.008535508409911005, + "friction_base": 0.044006552505787506, + "friction_stribeck": 0.06336597818111832, + "load_friction_motor": 0.04099951656475163, + "load_friction_external": 0.06168848398558106, + "load_friction_motor_stribeck": 0.12089113404236514, + "load_friction_external_stribeck": 0.236323803758428, + "load_friction_motor_quad": 0.00837611337042117, + "load_friction_external_quad": 0.0009462965444145883, + "dtheta_stribeck": 0.0893280788508571, + "alpha": 0.8734681483227246, + "friction_viscous": 0.05819597600231913, + "model": "m6", + "actuator": "sts3250" +} \ No newline at end of file From 87e1b7c4f021194ba2fdcf19e8a2fe0d62635733 Mon Sep 17 00:00:00 2001 From: budzianowski Date: Mon, 28 Oct 2024 14:27:25 -0700 Subject: [PATCH 6/6] keeping the original setup --- bam/actuator.py | 54 ++++++++++++++++++++++++++++++++++++------ bam/export_values.py | 27 ++++++++++++++++----- params/feetech/m6.json | 19 +-------------- 3 files changed, 69 insertions(+), 31 deletions(-) diff --git a/bam/actuator.py b/bam/actuator.py index c32f7ea..900b106 100644 --- a/bam/actuator.py +++ b/bam/actuator.py @@ -269,6 +269,16 @@ def __init__(self, testbench_class: Testbench): # Maximum speed [rad/s] self.max_speed: float = 7.853 # Adjust based on STS3250 specifications + + # pfb30: debug this + # This gain, if multiplied by a position error and firmware KP, gives duty cycle + # It was determined using an oscilloscope and MX actuators + self.error_gain: float = 0.158 + # Maximum allowable duty cycle, also determined with oscilloscope + self.max_pwm: float = 1.0 + + self.vin: float = 5.1 + def load_log(self, log: dict): super().load_log(log) @@ -278,19 +288,49 @@ def load_log(self, log: dict): def initialize(self): # We don't have access to internal motor parameters, so we'll model overall behavior # Torque constant [Nm/A] or [V/(rad/s)] - self.model.damping = Parameter(1.0, 0.1, 3.0) - self.model.stiffness = Parameter(10, 1.0, 120.0) # Position control stiffness + self.model.kt = Parameter(1.0, 0.1, 3.0) + + # Motor armature / apparent inertia [kg m^2] self.model.armature = Parameter(0.005, 0.001, 0.05) - # self.model.inertia = Parameter(0.00961, 0.00001, 0.001) # Apparent inertia - # self.model.friction_base = Parameter(0.0485, 0.0, 0.5) - # self.model.friction_viscous = Parameter(0.0358, 0.0, 0.5) + + # Motor resistance [Ohm] + self.model.R = Parameter(2.0, 1.0, 8.0) + def get_extra_inertia(self) -> float: return self.model.armature.value + def control_unit(self) -> str: + return "volts" + + def compute_control( + self, position_error: float, q: float, dq: float + ) -> float | None: + duty_cycle = position_error * self.kp * self.error_gain + duty_cycle = np.clip(duty_cycle, -self.max_pwm, self.max_pwm) + + return self.vin * duty_cycle + + def compute_torque(self, control: float | None, q: float, dq: float) -> float: + # Volts to None means that the motor is disconnected + if control is None: + return 0.0 + + volts = control + + # Torque produced + torque = self.model.kt.value * volts / self.model.R.value + + # Back EMF + torque -= (self.model.kt.value**2) * dq / self.model.R.value + + return torque + + """ def control_unit(self) -> str: return "position" + def compute_control( self, position_error: float, q: float, dq: float ) -> float | None: @@ -305,7 +345,7 @@ def compute_torque(self, control: float | None, q: float, dq: float) -> float: # Compute torque based on position error and velocity position_error = target_position - q - torque = self.model.stiffness.value * position_error - self.model.damping.value * dq + torque = self.kp * position_error - self.model.kt.value * dq # Limit torque based on maximum torque specification torque = np.clip(torque, -self.max_torque, self.max_torque) @@ -315,7 +355,7 @@ def compute_torque(self, control: float | None, q: float, dq: float) -> float: torque = 0.0 return torque - + """ actuators = { "mx64": lambda: MXActuator(Pendulum), diff --git a/bam/export_values.py b/bam/export_values.py index 24d55b5..1f3eb78 100644 --- a/bam/export_values.py +++ b/bam/export_values.py @@ -1,18 +1,32 @@ +""" +Export values from a model to a JSON file. + +Usage: +python -m bam.fit \ + --actuator sts3250 \ + --model m6 \ + --logdir bam/data_processed_feetech \ + --method cmaes \ + --output params/feetech/m6.json \ + --trials 1000 + +python -m bam.export_values \ + --params params/feetech/m6.json \ + --vin 5.1 \ + --kp_firmware 32 +""" + from .model import models, load_model from .actuator import actuators import argparse parser = argparse.ArgumentParser() parser.add_argument("--vin", type=float, default=5.1, help="VIN value") -parser.add_argument("--kp_firmware", type=int, default=1100, help="KP_FIRMWARE value") -parser.add_argument("--params", type=str, default="params.json") +parser.add_argument("--kp_firmware", type=int, default=32, help="KP_FIRMWARE value") +parser.add_argument("--params", type=str, default="params/feetech/m6.json") args = parser.parse_args() -breakpoint() -# TODO: Load model from JSON identified file model = load_model(args.params) -# model = models["m1"]() -# model.set_actuator(actuators["xc330m288t"]()) viscous = model.friction_viscous.value frictionloss = model.friction_base.value @@ -24,6 +38,7 @@ kp = model.actuator.error_gain * args.kp_firmware * args.vin * kt / R damping = viscous + kt**2 / R + print(f"Armature: {armature}") print(f"Force range: {forcerange}") print(f"Kp: {kp}") diff --git a/params/feetech/m6.json b/params/feetech/m6.json index 8bfa2c5..8ae56c4 100644 --- a/params/feetech/m6.json +++ b/params/feetech/m6.json @@ -1,18 +1 @@ -{ - "damping": 2.6728113376774156, - "stiffness": 69.35578881361153, - "armature": 0.008535508409911005, - "friction_base": 0.044006552505787506, - "friction_stribeck": 0.06336597818111832, - "load_friction_motor": 0.04099951656475163, - "load_friction_external": 0.06168848398558106, - "load_friction_motor_stribeck": 0.12089113404236514, - "load_friction_external_stribeck": 0.236323803758428, - "load_friction_motor_quad": 0.00837611337042117, - "load_friction_external_quad": 0.0009462965444145883, - "dtheta_stribeck": 0.0893280788508571, - "alpha": 0.8734681483227246, - "friction_viscous": 0.05819597600231913, - "model": "m6", - "actuator": "sts3250" -} \ No newline at end of file +{"kt": 0.7007020801847325, "armature": 0.008793405204572328, "R": 1.0218624869613808, "friction_base": 0.013343597773929877, "friction_stribeck": 0.015979030965067358, "load_friction_motor": 0.043595874959984376, "load_friction_external": 0.11605609187444317, "load_friction_motor_stribeck": 0.1869529966374398, "load_friction_external_stribeck": 0.15456184624490737, "load_friction_motor_quad": 0.009421827480947312, "load_friction_external_quad": 0.005073033111788205, "dtheta_stribeck": 0.3263311104179638, "alpha": 2.2834117819170268, "friction_viscous": 0.054986676303726924, "model": "m6", "actuator": "sts3250"} \ No newline at end of file