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Guide: Calibration

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Pachoot edited this page Sep 23, 2022 · 1 revision

For the Pupper to walk without falling, a good calibration is needed.

The calibration tool is located in (A shortcut is found on the Desktop):

    /home/ubuntu/Robotics/QuadrupedRobot/StanfordQuadruped/

There are 3 buttons:

  • Restore: Restore the servos to the factory settings.
  • Reset: Restore the legs to the last saved position.
  • Update: Save the current position.
Screenshot 2022-08-09 at 07 54 31

Set the Calf trying to hit the 45° to the ground, and the Thigh to make the leg 90°. Removing the rubber shoes might help. When done press update and Yes.

Close the program to complete the calibration and the settings are saved.

20220803_091718

The tool will read and save the data to the EEPROM on the custom PCB connected to the raspberry pi:

    /sys/bus/i2c/devices/3-0050/eeprom

When running run_robot.py, the program will import Config.py located on:

    /home/ubuntu/Robotics/QuadrupedRobot/StanfordQuadruped/pupper/Config.py

Here the EEPROM is read and used as the current configuration when running run_robot.py Screenshot from 2022-09-20 20-05-23

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