From f218776e2258459faa72d55b2a008bfa51a5b06a Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 31 May 2023 12:54:19 +0200 Subject: [PATCH 01/53] Added default empty plots --- src/interface.py | 121 ++++++++++++++++++++++++----------------------- 1 file changed, 61 insertions(+), 60 deletions(-) diff --git a/src/interface.py b/src/interface.py index 2c19a2e..2528214 100644 --- a/src/interface.py +++ b/src/interface.py @@ -6,12 +6,12 @@ import os import time -# import numpy as np -# import matplotlib.pyplot as plt + +import matplotlib.pyplot as plt from PyQt5 import QtWidgets, QtGui, QtCore -# from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas -# from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar +from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas +from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar from src.inputReader import InputReader from src.interfaceCalibration import MainCalibrationMenu @@ -87,7 +87,7 @@ def initUI(self): self.calibration_menu.hide() # Load default plots - # self.generateExamplePlots() + self.generatePlots() self.show() @@ -401,58 +401,59 @@ def openCalibrationMenu(self): self.calibration_menu.updateGridLayout() self.calibration_menu.show() - # TODO BOTTOM LAYOUT METHODS - # def generateExamplePlots(self): - # vbox_plot1 = QVBoxLayout() - # vbox_plot2 = QVBoxLayout() - # vbox_plot3 = QVBoxLayout() - - # # Plot titles - # title_plot1 = QLabel("Plot 1") - # title_plot1.setFont(QFont("Arial", 14, QFont.Bold)) - # title_plot1.setAlignment(Qt.AlignCenter) - # title_plot2 = QLabel("Plot 2") - # title_plot2.setFont(QFont("Arial", 14, QFont.Bold)) - # title_plot2.setAlignment(Qt.AlignCenter) - # title_plot3 = QLabel("Plot 3") - # title_plot3.setFont(QFont("Arial", 14, QFont.Bold)) - # title_plot3.setAlignment(Qt.AlignCenter) - - # # Example plots - # # y = np.random.normal(loc=0.5, scale=0.4, size=1000) - # # y = y[(y > -0.3) & (y < 0.3)] - # # y.sort() - # y = np.linspace(0, 0, 100) - # x = np.arange(len(y)) - # fig1, ax1 = plt.subplots() - # canvas1 = FigureCanvas(fig1) - # toolbar1 = NavigationToolbar(canvas1, self) - # ax1.plot(x,y) - # ax1.grid(True) - - # fig2, ax2 = plt.subplots() - # canvas2 = FigureCanvas(fig2) - # toolbar2 = NavigationToolbar(canvas2, self) - # ax2.plot(x,y) - # ax2.grid(True) - - # fig3, ax3 = plt.subplots() - # canvas3 = FigureCanvas(fig3) - # toolbar3 = NavigationToolbar(canvas3, self) - # ax3.plot(x,y) - # ax3.grid(True) - - # # Layouts - # vbox_plot1.addWidget(title_plot1) - # vbox_plot1.addWidget(toolbar1) - # vbox_plot1.addWidget(canvas1) - # vbox_plot2.addWidget(title_plot2) - # vbox_plot2.addWidget(toolbar2) - # vbox_plot2.addWidget(canvas2) - # vbox_plot3.addWidget(title_plot3) - # vbox_plot3.addWidget(toolbar3) - # vbox_plot3.addWidget(canvas3) - - # self.hbox_bottom.addLayout(vbox_plot1) - # self.hbox_bottom.addLayout(vbox_plot2) - # self.hbox_bottom.addLayout(vbox_plot3) + # BOTTOM LAYOUT METHODS + def generatePlots(self): + vbox_plot1 = QtWidgets.QVBoxLayout() + vbox_plot2 = QtWidgets.QVBoxLayout() + vbox_plot3 = QtWidgets.QVBoxLayout() + + # Plot titles + title_plot1 = QtWidgets.QLabel("Platform 1 COP") + title_plot1.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) + title_plot1.setAlignment(QtCore.Qt.AlignCenter) + title_plot2 = QtWidgets.QLabel("Platform 2 COP") + title_plot2.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) + title_plot2.setAlignment(QtCore.Qt.AlignCenter) + title_plot3 = QtWidgets.QLabel("IMU values") + title_plot3.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) + title_plot3.setAlignment(QtCore.Qt.AlignCenter) + + # Generate empty plots + self.fig1, self.ax1 = plt.subplots() + self.canvas1 = FigureCanvas(self.fig1) + self.ax1.set_xlabel('Medio-Lateral Motion (mm)') + self.ax1.set_ylabel('Anterior-Posterior Motion (mm)') + toolbar1 = NavigationToolbar(self.canvas1, self) + self.ax1.plot(0, 0) + self.ax1.grid(True) + + self.fig2, self.ax2 = plt.subplots() + self.canvas2 = FigureCanvas(self.fig2) + toolbar2 = NavigationToolbar(self.canvas2, self) + self.ax2.set_xlabel('Medio-Lateral Motion (mm)') + self.ax2.set_ylabel('Anterior-Posterior Motion (mm)') + self.ax2.plot(0, 0) + self.ax2.grid(True) + + self.fig3, self.ax3 = plt.subplots() + self.canvas3 = FigureCanvas(self.fig3) + toolbar3 = NavigationToolbar(self.canvas3, self) + self.ax3.set_xlabel('Time (s)') + self.ax3.set_ylabel('Absolute reference angle (rad)') + self.ax3.plot(0, 0) + self.ax3.grid(True) + + # Layouts + vbox_plot1.addWidget(title_plot1) + vbox_plot1.addWidget(toolbar1) + vbox_plot1.addWidget(self.canvas1) + vbox_plot2.addWidget(title_plot2) + vbox_plot2.addWidget(toolbar2) + vbox_plot2.addWidget(self.canvas2) + vbox_plot3.addWidget(title_plot3) + vbox_plot3.addWidget(toolbar3) + vbox_plot3.addWidget(self.canvas3) + + self.hbox_bottom.addLayout(vbox_plot1) + self.hbox_bottom.addLayout(vbox_plot2) + self.hbox_bottom.addLayout(vbox_plot3) From b576ae8b954af4f3c3f8c31629313e54e8efada9 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 1 Jun 2023 12:32:25 +0200 Subject: [PATCH 02/53] WIP Added relative COP plotter --- src/inputReader.py | 41 +++++++++++++++++++++++++++++++++--- src/interface.py | 18 +++++++++++++++- src/utils.py | 52 ++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 107 insertions(+), 4 deletions(-) diff --git a/src/inputReader.py b/src/inputReader.py index 40528a0..28f43d2 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -12,7 +12,7 @@ from src.handlers.phidgetEncodersHandler import PhidgetEncodersHandler from src.handlers.taoboticsIMUsHandler import TaoboticsIMUsHandler from src.sensorCalibrator import SensorCalibrator -from src.utils import LogHandler, TestDataFrame, DataFramePlotter +from src.utils import LogHandler, TestDataFrame, DataFramePlotter, StabilogramPlotter class InputReader: @@ -171,12 +171,47 @@ def readerStop(self): self.sensor_dataframe.exportToCSV(os.path.join( self.test_folder, self.test_name + '.csv')) # WIP Plot results - plot_columns = [0,1,2,3,4] - plot_dataframe = self.sensor_dataframe.getDataFrame().iloc[:, plot_columns].copy() + plot_columns = [0, 1, 2, 3, 4] + plot_dataframe = self.sensor_dataframe.getDataFrame( + ).iloc[:, plot_columns].copy() print(plot_dataframe) preview = DataFramePlotter(plot_dataframe) preview.plot_line('time', plot_dataframe.columns[1:]) + # Return fixed format of: + # - Relative COP of Platform 1 + # - Relative COP of Platform 2 + # - TODO IMU values + def getPlotterData(self): + x_cop_p1 = y_cop_p1 = x_cop_p2 = y_cop_p2 = 0 + sensor_dataframe = self.sensor_dataframe.getDataFrame() + dataframe_size = sensor_dataframe.shape[1] + if dataframe_size < 13: + self.log_handler.logger.warn( + "Ignoring relative COP values because the sensor dataframe has " + + str(dataframe_size) + " instead of minimum 13.") + return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2] + + # Get relative COPs for both platforms + if len(self.phidgetP1LoadCellsHandler.getSensorHeaders()) == 12: + sensor_cols = self.phidgetP1LoadCellsHandler.getSensorHeaders() + sensor_cols.insert(0, 'timestamp') + stabilogram_p1 = StabilogramPlotter( + sensor_dataframe[sensor_cols].copy()) + x_cop_p1, y_cop_p1 = stabilogram_p1.getPlotValues() + if len(self.phidgetP2LoadCellsHandler.getSensorHeaders()) == 12: + sensor_cols = self.phidgetP2LoadCellsHandler.getSensorHeaders() + sensor_cols.insert(0, 'timestamp') + stabilogram_p2 = StabilogramPlotter( + sensor_dataframe[sensor_cols].copy()) + x_cop_p2, y_cop_p2 = stabilogram_p2.getPlotValues() + # Get IMU values + if len(self.taoboticsIMUsHandler.getSensorHeaders()) > 0: + # TODO process + pass + + return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2] + # == TARE PROCESS def tareApply(self, timestamp_init, timestamp_end): # Set new offset to all sensors and safe new intercept values in config diff --git a/src/interface.py b/src/interface.py index 2528214..b445c9e 100644 --- a/src/interface.py +++ b/src/interface.py @@ -32,7 +32,8 @@ def initUI(self): os.path.join(self.dir_images, 'logo.ico'))) screen_resolution = QtWidgets. QDesktopWidget().screenGeometry() width, height = screen_resolution.width(), screen_resolution.height() - self.setGeometry(width//4, height//4, width//2, height//2) + self.setGeometry(width//4, height//4, + int(width//1.5), int(height//1.12)) # Main GUI layouts self.interface = QtWidgets.QWidget(self) @@ -379,6 +380,7 @@ def stopTest(self): self.inputReader.readerStop() self.start_btn.setEnabled(True) self.calibrate_sensors_btn.setEnabled(True) + self.updatePlots() def tareSensors(self): self.stop_btn.setEnabled(False) @@ -457,3 +459,17 @@ def generatePlots(self): self.hbox_bottom.addLayout(vbox_plot1) self.hbox_bottom.addLayout(vbox_plot2) self.hbox_bottom.addLayout(vbox_plot3) + + def updatePlots(self): + x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2 = self.inputReader.getPlotterData() + # Update relative COP Platform 1 + self.ax1.clear() + self.ax1.plot(x_cop_p1, y_cop_p1, color='red') + self.ax1.grid(True) + self.canvas1.draw() + # Update relative COP Platform 2 + self.ax2.clear() + self.ax2.plot(x_cop_p1, y_cop_p1, color='red') + self.ax2.grid(True) + self.canvas2.draw() + # TODO Update IMU diff --git a/src/utils.py b/src/utils.py index 30c4d7b..9b95c4e 100644 --- a/src/utils.py +++ b/src/utils.py @@ -71,6 +71,58 @@ def plot_line(self, x_col, y_cols): plt.show() +class StabilogramPlotter: + def __init__(self, data_frame: pd.DataFrame): + self.log_handler = LogHandler(str(__class__.__name__)) + + data_frame['timestamp'] = pd.to_datetime( + data_frame['timestamp'], unit='ms') + relative_time = data_frame['timestamp'] - \ + data_frame['timestamp'].iloc[0] + relative_time = relative_time.dt.total_seconds() + self.df = pd.DataFrame({'time': relative_time}) + self.df = pd.concat([self.df, data_frame.iloc[:, 1:]], axis=1) + # Default XY values + self.cop_x_dif = None + self.cop_y_dif = None + # Calculate COP Values + self.calculateCOPValues() + + def calculateCOPValues(self): + # TODO load l_x, l_y, h from config maybe + # Check first if df has the correct number of columns needed + if self.df.shape[1] != 13: + self.log_handler.logger.error( + "Cannot calculate COP values because the loaded dataframe has " + + str(self.df.shape[1]) + " instead of 13.") + return + # Set distances + l_x = 600 # (mm) x distance between sensors + l_y = 400 # (mm) y distance between sensors + h = 20 # (mm) z distance between sensors and upper platform + # Get forces + f_z = self.df.iloc[:, 1:5].to_numpy().sum(axis=1) + f_x = self.df.iloc[:, 5:9].to_numpy().sum(axis=1) + f_y = self.df.iloc[:, 9:13].to_numpy().sum(axis=1) + # Get moments + m_x = l_y/2 * (-self.df.iloc[:, 1:5].to_numpy() + [:, [0, 1, 2, 3]]).sum(axis=1) + m_y = l_x/2 * (-self.df.iloc[:, 1:5].to_numpy() + [:, [0, 1, 2, 3]]).sum(axis=1) + m_z = l_y/2 * (-self.df.iloc[:, 5:9].to_numpy()[:, [0, 1, 2, 3]]).sum(axis=1) + \ + l_x/2 * (self.df.iloc[:, 9:13].to_numpy() + [:, [0, 1, 2, 3]]).sum(axis=1) + # Get location of the center of pressure (COP) + cop_x = (-h * f_x - m_y)/f_z + cop_y = (-h * f_y + m_x)/f_z + # Center COP and get realtive COP from mean center of pressure position + self.cop_x_dif = cop_x - np.mean(cop_x) + self.cop_y_dif = cop_y - np.mean(cop_y) + + def getPlotValues(self): + return [self.cop_x_dif, self.cop_y_dif] + + class LogHandler: def __init__(self, logger_name): self.logger = logging.getLogger(logger_name) From db9a697c8729cf6c692b2b216051a5871c16ae3e Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 1 Jun 2023 12:54:05 +0200 Subject: [PATCH 03/53] WIP Added platform edges in COP plots --- src/interface.py | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/src/interface.py b/src/interface.py index b445c9e..1d61361 100644 --- a/src/interface.py +++ b/src/interface.py @@ -8,6 +8,7 @@ import time import matplotlib.pyplot as plt +import matplotlib.patches as patches from PyQt5 import QtWidgets, QtGui, QtCore from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas @@ -420,22 +421,32 @@ def generatePlots(self): title_plot3.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) title_plot3.setAlignment(QtCore.Qt.AlignCenter) + # Rectangle side lenghts + x_length = 600 # mm + y_length = 400 # mm + rect1 = patches.Rectangle( + (0, 0), x_length, y_length, edgecolor='blue', facecolor='none') + rect2 = patches.Rectangle( + (0, 0), x_length, y_length, edgecolor='blue', facecolor='none') + # Generate empty plots self.fig1, self.ax1 = plt.subplots() self.canvas1 = FigureCanvas(self.fig1) self.ax1.set_xlabel('Medio-Lateral Motion (mm)') self.ax1.set_ylabel('Anterior-Posterior Motion (mm)') toolbar1 = NavigationToolbar(self.canvas1, self) - self.ax1.plot(0, 0) + self.line1, = self.ax1.plot(0, 0) self.ax1.grid(True) + self.ax1.add_patch(rect1) self.fig2, self.ax2 = plt.subplots() self.canvas2 = FigureCanvas(self.fig2) toolbar2 = NavigationToolbar(self.canvas2, self) self.ax2.set_xlabel('Medio-Lateral Motion (mm)') self.ax2.set_ylabel('Anterior-Posterior Motion (mm)') - self.ax2.plot(0, 0) + self.line2, = self.ax2.plot(0, 0) self.ax2.grid(True) + self.ax2.add_patch(rect2) self.fig3, self.ax3 = plt.subplots() self.canvas3 = FigureCanvas(self.fig3) @@ -463,13 +474,9 @@ def generatePlots(self): def updatePlots(self): x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2 = self.inputReader.getPlotterData() # Update relative COP Platform 1 - self.ax1.clear() - self.ax1.plot(x_cop_p1, y_cop_p1, color='red') - self.ax1.grid(True) + self.line1.set_data(x_cop_p1, y_cop_p1) self.canvas1.draw() # Update relative COP Platform 2 - self.ax2.clear() - self.ax2.plot(x_cop_p1, y_cop_p1, color='red') - self.ax2.grid(True) + self.line2.set_data(x_cop_p1, y_cop_p1) self.canvas2.draw() # TODO Update IMU From 23bd4371deb0134e3a9b459bb6d9b61b994c8a97 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 2 Jun 2023 13:01:32 +0200 Subject: [PATCH 04/53] WIP add project documentation --- docs/.gitignore | 2 ++ docs/home.md | 18 ++++++++++++++++++ docs/setup/project.md | 23 +++++++++++++++++++++++ images/main_gui.png | Bin 0 -> 154027 bytes 4 files changed, 43 insertions(+) create mode 100644 docs/.gitignore create mode 100644 docs/home.md create mode 100644 docs/setup/project.md create mode 100644 images/main_gui.png diff --git a/docs/.gitignore b/docs/.gitignore new file mode 100644 index 0000000..44cff8e --- /dev/null +++ b/docs/.gitignore @@ -0,0 +1,2 @@ +/.obsidian +/tests \ No newline at end of file diff --git a/docs/home.md b/docs/home.md new file mode 100644 index 0000000..4eff8de --- /dev/null +++ b/docs/home.md @@ -0,0 +1,18 @@ +# The Force Platform Documentation + +**Please note that this wiki is a work in progress and may be incomplete.** + +Welcome to the `force_platform` documentation! Here you will find all the necessary information to be able to manage the program properly. + +![Main GUI](../images/main_gui.png) + +## Documentation sections + +Here is a ordered list of the documentation files provided in this wiki. + +1. [Project setup](setup/project.md) +3. [Config file]() +4. [Sensors]() +5. [Execute a test]() +6. [Calibrate sensors]() +7. [Example case]() \ No newline at end of file diff --git a/docs/setup/project.md b/docs/setup/project.md new file mode 100644 index 0000000..2a9669e --- /dev/null +++ b/docs/setup/project.md @@ -0,0 +1,23 @@ +[< back to home](../home.md) + +# Project setup + +The installation process will be explained for **Linux**. It is also possible to install on Windows and MacOs (not tested) if the required dependencies have support for those OS. + +> Please note that if you do not use Linux and you want to use the Taobotics IMUs, you will have to manage its drivers. + +The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 LTS` with Taobotics IMUs. + +## Dependencies + +- **Python version `3.10` or `3.11`**. In case you want to use recent versions, check the [requirements](../requirements.txt) for potential conflicts with the required python modules. +- **Phidget22**. For Phidget load cells and encoders. +- **MRPT**. To use the `pymrpt` library for the Taobotics IMUs. + +## Installation procedure + +**Work in progress** + +--- + +[< back to home](../home.md) \ No newline at end of file diff --git a/images/main_gui.png b/images/main_gui.png new file mode 100644 index 0000000000000000000000000000000000000000..5a05238aa6e4b927201f78b22aa56a13c4b7cf67 GIT binary patch literal 154027 zcmdqJcRbhq`#${EL?wx|gocdF7P6%w*|Ur&l~rchG?3jOloiP)gvcIQWfUpOOhon` z={}xa*YETF-1p;gKYqXa-`nH!xvnemdcR)J=kq+z<2cUae0eJ?p4>pYot8qOY&d=D zxGIIR`a6ZPvWPz?V=WVuf+O}%fFWcTUv^J((xpv*c znAhf_wXyLvo2%DtM^_e0;DBca2R*KEqJs_Tj(2IqBBV{*fH3Y7t>cOAF9qP!ZkzYUdHzQy!f0 zfs^5$U#hvb3tl;K>EJ=H%ZkQLFE?cgiX2?8Ls$7y&_|UkVruz!cl%DQ|M|MkF!O)^X@%;||GD<277E9A?|c9GGNo*u`1`AWsLVd4 zl>Yn}&r{GbKiMznx-_Tt?=1vZ+!Z4iXmTqFF>v*+sHmV#54nHez1(Y~mcycmh={QL z7+YpmR4LN0HdfbZDU^Caz*!|l&+W*QorftFUZysKRsgc_dBAZJ&%+mq%}3SP`a>D z17EWC>+0#ThtxF{IM}2Z6z__1o}k%&^qOD3-B3?&prq!2;6bAb>d#-klz#fOg^G&m 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a/docs/setup/project.md +++ b/docs/setup/project.md @@ -10,7 +10,7 @@ The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 L ## Dependencies -- **Python version `3.10` or `3.11`**. In case you want to use recent versions, check the [requirements](../requirements.txt) for potential conflicts with the required python modules. +- **Python version `3.10` or `3.11`**. In case you want to use recent versions, check the [requirements](../../requirements.txt) for potential conflicts with the required python modules. - **Phidget22**. For Phidget load cells and encoders. - **MRPT**. To use the `pymrpt` library for the Taobotics IMUs. From 2a7fc4c0b6320471241016a051d1a4abf2485b46 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 12 Jun 2023 14:58:31 +0200 Subject: [PATCH 06/53] WIP Generate also csv file with raw sensor data. --- src/inputReader.py | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/src/inputReader.py b/src/inputReader.py index 28f43d2..47f1d43 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -149,16 +149,23 @@ def readerStart(self): self.taoboticsIMUsHandler.getSensorHeaders()) self.log_handler.logger.info("Test headers: " + str(dataframe_headers)) self.sensor_dataframe = TestDataFrame(dataframe_headers) + self.sensor_dataframe_raw = TestDataFrame(dataframe_headers) def readerProcess(self): # Get and acumulate values in dataframe from all sensor classes current_time = round(time.time()*1000) data = [current_time] + data_raw = data data.extend(self.phidgetP1LoadCellsHandler.getSensorData() + self.phidgetP2LoadCellsHandler.getSensorData() + self.phidgetEncodersHandler.getSensorData() + self.taoboticsIMUsHandler.getSensorData()) + data_raw.extend(self.phidgetP1LoadCellsHandler.getSensorDataRaw() + + self.phidgetP2LoadCellsHandler.getSensorDataRaw() + + self.phidgetEncodersHandler.getSensorDataRaw() + + self.taoboticsIMUsHandler.getSensorData()) self.sensor_dataframe.addRow(data) + self.sensor_dataframe_raw.addRow(data_raw) # self.log_handler.logger.debug("Clocking data! - " + str(data)) # print(str(self.taoboticsIMUsHandler.getSensorData())) @@ -170,8 +177,10 @@ def readerStop(self): self.log_handler.logger.info("Test finished!") self.sensor_dataframe.exportToCSV(os.path.join( self.test_folder, self.test_name + '.csv')) + self.sensor_dataframe_raw.exportToCSV(os.path.join( + self.test_folder, self.test_name + '_RAW' + '.csv')) # WIP Plot results - plot_columns = [0, 1, 2, 3, 4] + plot_columns = [0, 7, 14, 21] plot_dataframe = self.sensor_dataframe.getDataFrame( ).iloc[:, plot_columns].copy() print(plot_dataframe) From fee5a923ea00b2ef48f9370317665747a1c70c75 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Tue, 13 Jun 2023 10:23:56 +0200 Subject: [PATCH 07/53] Fix raw data management --- src/inputReader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/inputReader.py b/src/inputReader.py index 47f1d43..9d7ad6b 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -155,7 +155,7 @@ def readerProcess(self): # Get and acumulate values in dataframe from all sensor classes current_time = round(time.time()*1000) data = [current_time] - data_raw = data + data_raw = [current_time] data.extend(self.phidgetP1LoadCellsHandler.getSensorData() + self.phidgetP2LoadCellsHandler.getSensorData() + self.phidgetEncodersHandler.getSensorData() + From c01897d7b441b52fb7323bf4e5212d6dd5fd8a95 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Tue, 13 Jun 2023 10:24:39 +0200 Subject: [PATCH 08/53] Added output csv file format --- src/utils.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/utils.py b/src/utils.py index 9b95c4e..2a681d4 100644 --- a/src/utils.py +++ b/src/utils.py @@ -20,12 +20,17 @@ def __init__(self, columns): def addRow(self, values): if len(values) != len(self.df.columns): self.log_handler.logger.error( - "Number of values doesn't match number of columns! Expected " + str(len(self.df.columns)) + " got " + str(len(values))) + "Number of values doesn't match number of columns! Expected " + + str(len(self.df.columns)) + " got " + str(len(values))) return self.df.loc[len(self.df)] = values def exportToCSV(self, file_path): - self.df.to_csv(file_path, index=False) + # Format all data values to: 0.000000e+00 + formatted_df = self.df.copy() + formatted_df.iloc[:, 1:] = formatted_df.iloc[:, 1:].applymap( + lambda x: "{:.6e}".format(x)) + formatted_df.to_csv(file_path, index=False) file_size = os.path.getsize(file_path) / (1024 * 1024) self.log_handler.logger.info( "Test file saved in: " + str(file_path) + " (" + str(round(file_size, 2)) + " MB)") From 41e73fd59a08e2c48e0caff5a16554754de67f3f Mon Sep 17 00:00:00 2001 From: AaronPB Date: Tue, 13 Jun 2023 14:59:19 +0200 Subject: [PATCH 09/53] Added matlab scripts folder in project --- matlab/csv_data_plotter.m | 165 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 165 insertions(+) create mode 100644 matlab/csv_data_plotter.m diff --git a/matlab/csv_data_plotter.m b/matlab/csv_data_plotter.m new file mode 100644 index 0000000..907b852 --- /dev/null +++ b/matlab/csv_data_plotter.m @@ -0,0 +1,165 @@ +%% CSV DATA PLOTTER FOR CALIBRATED VALUES +% Author: Aaron Raul Poyatos Bakker +% Date: 13/06/2023 +% Script that generates 5 figures with the recorded data in CSV files: +% - 3 subfigures for loadcells of platform 1 +% - 3 subfigures for loadcells of platform 2 +% - figure with encoders info +% - 3 subfigures for IMUs orientation data +% - 3 subfigures for IMUs angular velocity data + +%% IMPORT DATA +% Change path to desired csv file +data = readmatrix('../pruebas/EnsayoTODO.csv', 'Delimiter', ','); + +% Data +timestamps = data(:, 1); +loadCell_Z1 = data(:, 2:5); +loadCell_X1 = data(:, 6:9); +loadCell_Y1 = data(:, 10:13); +loadCell_Z2 = data(:, 14:17); +loadCell_X2 = data(:, 18:21); +loadCell_Y2 = data(:, 22:25); +encoders = data(:, 26:27); +imu_1_q = data(:, 28:31); % x,y,z,w +imu_1_w = data(:, 32:34); % x,y,z +imu_2_q = data(:, 35:38); % x,y,z,w +imu_2_w = data(:, 39:41); % x,y,z +imu_3_q = data(:, 42:45); % x,y,z,w +imu_3_w = data(:, 46:48); % x,y,z + +% Transform timestamp to seconds +timeIncrements = timestamps/1000 - timestamps(1)/1000; + +%% LOADCELLS PLATFORM 1 +figure (1); + +% P1_LoadCell_Z +subplot(3, 1, 1); +plot(timeIncrements, loadCell_Z1, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P1\_LoadCell\_Z'); +legend('P1\_LoadCell\_Z\_1', 'P1\_LoadCell\_Z\_2', 'P1\_LoadCell\_Z\_3', 'P1\_LoadCell\_Z\_4'); + +% P1_LoadCell_X +subplot(3, 1, 2); +plot(timeIncrements, loadCell_X1, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P1\_LoadCell\_X'); +legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4'); + +% P1_LoadCell_Y +subplot(3, 1, 3); +plot(timeIncrements, loadCell_Y1, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P1\_LoadCell\_Y'); +legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4'); + +%% LOADCELLS PLATFORM 2 +figure (2); + +% P2_LoadCell_Z +subplot(3, 1, 1); +plot(timeIncrements, loadCell_Z2, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P2\_LoadCell\_Z'); +legend('P2\_LoadCell\_Z\_1', 'P2\_LoadCell\_Z\_2', 'P2\_LoadCell\_Z\_3', 'P2\_LoadCell\_Z\_4'); + +% P2_LoadCell_X +subplot(3, 1, 2); +plot(timeIncrements, loadCell_X2, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P2\_LoadCell\_X'); +legend('P2\_LoadCell\_X\_1', 'P2\_LoadCell\_X\_2', 'P2\_LoadCell\_X\_3', 'P2\_LoadCell\_X\_4'); + +% P2_LoadCell_Y +subplot(3, 1, 3); +plot(timeIncrements, loadCell_Y2, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Force (N)'); +title('P2\_LoadCell\_Y'); +legend('P2\_LoadCell\_Y\_1', 'P2\_LoadCell\_Y\_2', 'P2\_LoadCell\_Y\_3', 'P2\_LoadCell\_Y\_4'); + +%% ENCODERS +figure (3); + +plot(timeIncrements, encoders, 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Distance (mm)'); +title('Encoders'); +legend('Encoder\_Z1', 'Encoder\_Z2'); + +%% IMUS ANGLES +% Transform quaternions values to Euler angles +imu_1_eul = quat2eul(imu_1_q, 'XYZ'); +imu_2_eul = quat2eul(imu_2_q, 'XYZ'); +imu_3_eul = quat2eul(imu_3_q, 'XYZ'); +% To degrees +imu_1_eul_deg = rad2deg(imu_1_eul); +imu_2_eul_deg = rad2deg(imu_2_eul); +imu_3_eul_deg = rad2deg(imu_3_eul); + +figure (4); + +% IMU 1 +subplot(3, 1, 1); +plot(timeIncrements, imu_1_eul_deg, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('IMU\_1'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); + +% IMU 2 +subplot(3, 1, 2); +plot(timeIncrements, imu_2_eul_deg, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('IMU\_2'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); + +% IMU 3 +subplot(3, 1, 3); +plot(timeIncrements, imu_3_eul_deg, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('IMU\_3'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); + +%% IMUS ANGULAR VELOCITY +figure (5); + +% IMU 1 +subplot(3, 1, 1); +plot(timeIncrements, imu_1_w, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angular velocity (rad/s)'); +title('IMU\_1'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); + +% IMU 2 +subplot(3, 1, 2); +plot(timeIncrements, imu_2_w, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angular velocity (rad/s)'); +title('IMU\_2'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); + +% IMU 3 +subplot(3, 1, 3); +plot(timeIncrements, imu_3_w, 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angular velocity (rad/s)'); +title('IMU\_3'); +legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); \ No newline at end of file From 61cd73bf1a5834b0d6ab6f0d84f105623a3d14f2 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 14 Jun 2023 12:42:24 +0200 Subject: [PATCH 10/53] Added forces calculator script --- matlab/mathmodel_calculator.m | 180 ++++++++++++++++++++++++++++++++++ 1 file changed, 180 insertions(+) create mode 100644 matlab/mathmodel_calculator.m diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m new file mode 100644 index 0000000..3a3e897 --- /dev/null +++ b/matlab/mathmodel_calculator.m @@ -0,0 +1,180 @@ +%% PLOTTER DE DATOS CALIBRADOS +% Autor: Aaron Raul Poyatos Bakker +% Fecha: 13/06/2023 +% With the angle information, obtain all the forces and momentums + +%% IMPORT DATA +% Change path to desired csv file +data = readmatrix('../pruebas/EnsayoTODO.csv', 'Delimiter', ','); + +% Data +timestamps = data(:, 1); +imu_1_q = data(:, 28:31); % x,y,z,w +imu_1_w = data(:, 32:34); % x,y,z +imu_2_q = data(:, 35:38); % x,y,z,w +imu_2_w = data(:, 39:41); % x,y,z +imu_3_q = data(:, 42:45); % x,y,z,w +imu_3_w = data(:, 46:48); % x,y,z + +% Transform timestamp to seconds +timeIncrements = timestamps/1000 - timestamps(1)/1000; + +% Transform quaternions values to Euler angles +imu_1_eul = quat2eul(imu_1_q, 'XYZ'); +imu_2_eul = quat2eul(imu_2_q, 'XYZ'); +imu_3_eul = quat2eul(imu_3_q, 'XYZ'); + +% Extract absolute angles +% TODO CHECK REAL DATA VALUES TO TRANSFORM IN ABS ANGLES +absangle_A = imu_1_eul(:, 3); % Leg Z angle +absangle_B = imu_2_eul(:, 3); % Thigh Z angle +absangle_C = imu_3_eul(:, 2); % Trunk Y angle + +%% MODEL PARAMETERS +% General values +g = 9.81; % m/s2 +m_body = 90; % Body total weight (kg) +m_barbell = 100; % Barbell total weight (kg) +% Limbs lengths and CM offsets (m) +L_leg = 0.231; +L_thigh = 0.237; +L_trunk = 0.303; +Lp_leg = 0.433*L_leg; +Ld_leg = 0.567*L_leg; +Lp_thigh = 0.433*L_thigh; +Ld_thigh = 0.567*L_thigh; +Lp_trunk = 0.500*L_trunk; +Ld_trunk = 0.500*L_trunk; +% Limbs weights and partial weights (kg) +m_leg = 0.0465*m_body; +m_thigh = 0.1000*m_body; +m_trunk = 0.4970*m_body; + +% Limb turning radios (for inertia) +r_cg_leg = 0.302*L_leg; +r_cg_thigh = 0.323*L_thigh; +r_cg_trunk = 0.503*L_trunk; + +%% OBTAIN MATRIX VALUES +% Inertia values: I = m*R2 +I_leg = m_leg*r_cg_leg*r_cg_leg; +I_thigh = m_thigh*r_cg_thigh*r_cg_thigh; +I_trunk = m_trunk*r_cg_trunk*r_cg_trunk; + +% --- Absolute angles management +% Sines and cosines of absolute angles +absangle_A_sin = sin(absangle_A); +absangle_A_cos = cos(absangle_A); +absangle_B_sin = sin(absangle_B); +absangle_B_cos = cos(absangle_B); +absangle_C_sin = sin(absangle_C); +absangle_C_cos = cos(absangle_C); + +% Get first and second absolute angle derivates +dt = timeIncrements(2) - timeIncrements(1); +absangle_A_diff = diff(absangle_A,1) ./ dt; +absangle_B_diff = diff(absangle_B,1) ./ dt; +absangle_C_diff = diff(absangle_C,1) ./ dt; +absangle_A_diff2 = diff(absangle_A,2) ./ dt; +absangle_B_diff2 = diff(absangle_B,2) ./ dt; +absangle_C_diff2 = diff(absangle_C,2) ./ dt; +% Add initial ceros to match lengths +absangle_A_diff = [zeros(1, 1); absangle_A_diff]; +absangle_B_diff = [zeros(1, 1); absangle_B_diff]; +absangle_C_diff = [zeros(1, 1); absangle_C_diff]; +absangle_A_diff2 = [zeros(2, 1); absangle_A_diff2]; +absangle_B_diff2 = [zeros(2, 1); absangle_B_diff2]; +absangle_C_diff2 = [zeros(2, 1); absangle_C_diff2]; + +% --- Limb accelerations +% Leg COG accelerations +a_leg_x = absangle_A_diff2.*Lp_leg.*(-absangle_A_sin)-Lp_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_cos; +a_leg_z = absangle_A_diff2.*Lp_leg.*(absangle_A_cos)-Lp_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_sin; +% Thigh COG accelerations +a_thigh_leg_x = absangle_A_diff2.*L_leg.*(-absangle_A_sin)-L_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_cos; +a_thigh_leg_z = absangle_A_diff2.*L_leg.*(absangle_A_cos)-L_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_sin; +a_thigh_x = a_thigh_leg_x + absangle_B_diff2.*Lp_thigh.*(-absangle_B_sin)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; +a_thigh_z = a_thigh_leg_z + absangle_B_diff2.*Lp_thigh.*(absangle_B_cos)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; +% Trunk COG accelerations +a_trunk_thigh_x = a_thigh_leg_x + absangle_B_diff2.*L_thigh.*(-absangle_B_sin)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; +a_trunk_thigh_z = a_thigh_leg_z + absangle_B_diff2.*L_thigh.*(absangle_B_cos)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; +a_trunk_x = a_trunk_thigh_x + absangle_C_diff2.*Lp_trunk.*(-absangle_C_sin)-Lp_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_trunk_z = a_trunk_thigh_z + absangle_C_diff2.*Lp_trunk.*(absangle_C_cos)-Lp_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; +% Barbell COG accelerations +a_barbell_x = a_trunk_thigh_x + absangle_C_diff2.*L_trunk.*(-absangle_C_sin)-L_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_barbell_z = a_trunk_thigh_z + absangle_C_diff2.*L_trunk.*(absangle_C_cos)-L_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; + +%% BUILD A AND B MATRIX +% Ax = b -> x = A(-1)*b + +iter = length(timeIncrements); +x_cell = cell(iter, 1); + +for k = 1:iter + A = [ + 1, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0; + 0, 1, 0, -1, 0, 0, 0, 0, 0, 0, 0; + Lp_leg*absangle_A_sin(k,1), -Lp_leg*absangle_A_cos(k,1), Ld_leg*absangle_A_sin(k,1), -Ld_leg*absangle_A_cos(k,1), 0, 0, 0, 0, 1, -1, 0; + 0, 0, 1, 0, -1, 0, 0, 0, 0, 0, 0; + 0, 0, 0, 1, 0, -1, 0, 0, 0, 0, 0; + 0, 0, Lp_thigh*absangle_B_sin(k,1), Lp_thigh*absangle_B_cos(k,1), Ld_thigh*absangle_B_sin(k,1), Ld_thigh*absangle_B_cos(k,1), 0, 0, 0, 1, -1; + 0, 0, 0, 0, 1, 0, -1, 0, 0, 0, 0; + 0, 0, 0, 0, 0, 1, 0, -1, 0, 0, 0; + 0, 0, 0, 0, Lp_trunk*absangle_C_sin(k,1), -Lp_trunk*absangle_C_cos(k,1), Ld_trunk*absangle_C_sin(k,1), -Ld_trunk*absangle_C_cos(k,1), 0, 0, 1; + 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0; + 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0; + ]; + + b = [ + m_leg*a_leg_x(k,1); + m_leg*a_leg_z(k,1) + m_leg*g; + I_leg*absangle_A_diff2(k,1); + m_thigh*a_thigh_x(k,1); + m_thigh*a_thigh_z(k,1) + m_thigh*g; + I_thigh*absangle_B_diff2(k,1); + m_trunk*a_trunk_x(k,1) + m_barbell*a_barbell_x(k,1); + m_trunk*a_trunk_z(k,1) + m_trunk*g + m_barbell*a_barbell_z(k,1); + I_trunk*absangle_C_diff2(k,1) - m_barbell*a_barbell_x(k,1)*Ld_trunk*absangle_C_sin(k,1) + m_barbell*a_barbell_z(k,1).*Ld_trunk*absangle_C_cos(k,1); + 0; + m_barbell*g; + ]; + + x = inv(A) * b; + x_cell{k} = x; +end + +% Each cell contains the force and momentum values in the following order: +% x: [F12x;F12z;F23x;F23z;F34x;F34z;Fx;Fz;Ma;Mk;Mh] +size(x_cell) + +%% PLOT RESULTS +% Get momentum vectors (ankle, knee and hip) +m1 = zeros(7636, 1); +m2 = zeros(7636, 1); +m3 = zeros(7636, 1); +for k = 1:iter + current_cell = x_cell{k}; + current_m1 = current_cell(9,1); + current_m2 = current_cell(10,1); + current_m3 = current_cell(11,1); + m1(k) = current_m1; + m2(k) = current_m2; + m3(k) = current_m3; +end + +% Plot absolute angles and momentums +figure; +subplot(2, 1, 1); +plot(timeIncrements, [rad2deg(absangle_A),rad2deg(absangle_B),rad2deg(absangle_C)], 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles'); +legend('Absolute angle A Z', 'Absolute angle B Z', 'Absolute angle C Y'); + +subplot(2, 1, 2); +plot(timeIncrements, [m1,m2,m3], 'LineWidth', 1.5); +xlabel('Time (s)'); +ylabel('Momentum (Nm)'); +title('Momentums'); +legend('Ankle', 'Knee', 'Hip'); + From f74ca330a6a8faf486d1625481c18de5aa882e48 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 14 Jun 2023 12:55:40 +0200 Subject: [PATCH 11/53] Enable plot grids and change script header --- matlab/mathmodel_calculator.m | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m index 3a3e897..257d313 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/mathmodel_calculator.m @@ -1,4 +1,4 @@ -%% PLOTTER DE DATOS CALIBRADOS +%% FORCES AND MOMENTUM VALUES CALCULATOR % Autor: Aaron Raul Poyatos Bakker % Fecha: 13/06/2023 % With the angle information, obtain all the forces and momentums @@ -166,6 +166,7 @@ figure; subplot(2, 1, 1); plot(timeIncrements, [rad2deg(absangle_A),rad2deg(absangle_B),rad2deg(absangle_C)], 'LineWidth', 1.5); +grid on; xlabel('Time (s)'); ylabel('Angle (º)'); title('Absolute angles'); @@ -173,6 +174,7 @@ subplot(2, 1, 2); plot(timeIncrements, [m1,m2,m3], 'LineWidth', 1.5); +grid on; xlabel('Time (s)'); ylabel('Momentum (Nm)'); title('Momentums'); From a144299ef3bc7360a022c210b86c0aef94b2580b Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 14 Jun 2023 21:09:55 +0200 Subject: [PATCH 12/53] Added absolute angles generators for virtual tests in scripts. --- matlab/mathmodel_calculator.m | 42 +++++++++++++++++----- matlab/test_angle_trajectories_linear.m | 33 +++++++++++++++++ matlab/test_angle_trajectories_parabolic.m | 41 +++++++++++++++++++++ 3 files changed, 107 insertions(+), 9 deletions(-) create mode 100644 matlab/test_angle_trajectories_linear.m create mode 100644 matlab/test_angle_trajectories_parabolic.m diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m index 257d313..d5005be 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/mathmodel_calculator.m @@ -1,7 +1,7 @@ %% FORCES AND MOMENTUM VALUES CALCULATOR -% Autor: Aaron Raul Poyatos Bakker -% Fecha: 13/06/2023 -% With the angle information, obtain all the forces and momentums +% Author: Aaron Raul Poyatos Bakker +% Date: 13/06/2023 +% With the angle information, obtain all forces and momentums %% IMPORT DATA % Change path to desired csv file @@ -30,6 +30,23 @@ absangle_B = imu_2_eul(:, 3); % Thigh Z angle absangle_C = imu_3_eul(:, 2); % Trunk Y angle +size(absangle_A) + +%% EXAMPLES WITH VIRTUAL ANGLES +% Comment/delete this section if you want to use imported data from csv +timeIncrements = 0:0.01:4; +% absangle_A = transpose(linspace(pi/2, pi/4, numel(timeIncrements))); +% absangle_B = transpose(linspace(pi/2, pi/1.2, numel(timeIncrements))); +% absangle_C = transpose(linspace(pi/2, pi/5, numel(timeIncrements))); +pos_i = pi/2; +pos_f_A = pi/4; +pos_f_B = pi/1.2; +pos_f_C = pi/5; +reps = 2; + +% [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_linear(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps); +[absangle_A,absangle_B,absangle_C] = test_angle_trajectories_parabolic(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps); + %% MODEL PARAMETERS % General values g = 9.81; % m/s2 @@ -149,9 +166,9 @@ %% PLOT RESULTS % Get momentum vectors (ankle, knee and hip) -m1 = zeros(7636, 1); -m2 = zeros(7636, 1); -m3 = zeros(7636, 1); +m1 = zeros(length(timeIncrements), 1); +m2 = zeros(length(timeIncrements), 1); +m3 = zeros(length(timeIncrements), 1); for k = 1:iter current_cell = x_cell{k}; current_m1 = current_cell(9,1); @@ -164,7 +181,7 @@ % Plot absolute angles and momentums figure; -subplot(2, 1, 1); +subplot(3, 1, 1); plot(timeIncrements, [rad2deg(absangle_A),rad2deg(absangle_B),rad2deg(absangle_C)], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); @@ -172,11 +189,18 @@ title('Absolute angles'); legend('Absolute angle A Z', 'Absolute angle B Z', 'Absolute angle C Y'); -subplot(2, 1, 2); +subplot(3, 1, 2); +plot(timeIncrements, [a_leg_z,a_thigh_z,a_trunk_z], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Acc (m/s2)'); +title('Accel Z axis'); +legend('Leg', 'Thigh', 'Trunk'); + +subplot(3, 1, 3); plot(timeIncrements, [m1,m2,m3], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Momentum (Nm)'); title('Momentums'); legend('Ankle', 'Knee', 'Hip'); - diff --git a/matlab/test_angle_trajectories_linear.m b/matlab/test_angle_trajectories_linear.m new file mode 100644 index 0000000..134a6f3 --- /dev/null +++ b/matlab/test_angle_trajectories_linear.m @@ -0,0 +1,33 @@ +function [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_linear(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps) +%% test_angle_trajectories_linear +% Author: Aaron Raul Poyatos Bakker +% Date: 13/06/2023 +% Generates absolute angle test values between common initial pose and +% specific final pose for each angle. + rep_points = numel(timeIncrements)/reps; + + absangle_A1 = linspace(pos_i, pos_f_A, round(rep_points/2)); + absangle_A2 = linspace(pos_f_A, pos_i, rep_points - round(rep_points/2)+1); + absangle_B1 = linspace(pos_i, pos_f_B, round(rep_points/2)); + absangle_B2 = linspace(pos_f_B, pos_i, rep_points - round(rep_points/2)+1); + absangle_C1 = linspace(pos_i, pos_f_C, round(rep_points/2)); + absangle_C2 = linspace(pos_f_C, pos_i, rep_points - round(rep_points/2)+1); + + absangle_A = [absangle_A1, absangle_A2]; + absangle_B = [absangle_B1, absangle_B2]; + absangle_C = [absangle_C1, absangle_C2]; + + absangle_A = repmat(absangle_A, 1, reps); + absangle_B = repmat(absangle_B, 1, reps); + absangle_C = repmat(absangle_C, 1, reps); + + absangle_A = transpose(absangle_A(1:numel(timeIncrements))); + absangle_B = transpose(absangle_B(1:numel(timeIncrements))); + absangle_C = transpose(absangle_C(1:numel(timeIncrements))); + + % Apply noise + % absangle_A = absangle_A + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle_B = absangle_B + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle_C = absangle_C + 0.01 * (2*rand(size(timeIncrements)) - 1); +end + diff --git a/matlab/test_angle_trajectories_parabolic.m b/matlab/test_angle_trajectories_parabolic.m new file mode 100644 index 0000000..4aafba1 --- /dev/null +++ b/matlab/test_angle_trajectories_parabolic.m @@ -0,0 +1,41 @@ +function [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_parabolic(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps) +%% test_angle_trajectories_parabolic +% Author: Aaron Raul Poyatos Bakker +% Date: 13/06/2023 +% Generates absolute angle test values between common initial pose and +% specific final pose for each angle. + rep_points = numel(timeIncrements) / reps; + + x1 = linspace(0, 1, round(rep_points/2)); + x2 = linspace(0, 1, rep_points - round(rep_points/2) + 1); + + y1 = sqrt(x1); + y2 = -sqrt(x2); + + absangle_A1 = pos_i + (pos_f_A - pos_i) * y1; + absangle_A2 = pos_f_A + (-pos_i + pos_f_A) * y2; + + absangle_B1 = pos_i + (pos_f_B - pos_i) * y1; + absangle_B2 = pos_f_B + (-pos_i + pos_f_B) * y2; + + absangle_C1 = pos_i + (pos_f_C - pos_i) * y1; + absangle_C2 = pos_f_C + (-pos_i + pos_f_C) * y2; + + absangle_A = [absangle_A1, absangle_A2]; + absangle_B = [absangle_B1, absangle_B2]; + absangle_C = [absangle_C1, absangle_C2]; + + absangle_A = repmat(absangle_A, 1, reps); + absangle_B = repmat(absangle_B, 1, reps); + absangle_C = repmat(absangle_C, 1, reps); + + absangle_A = transpose(absangle_A(1:numel(timeIncrements))); + absangle_B = transpose(absangle_B(1:numel(timeIncrements))); + absangle_C = transpose(absangle_C(1:numel(timeIncrements))); + + % Apply noise + % absangle_A = absangle_A + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle_B = absangle_B + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle_C = absangle_C + 0.01 * (2*rand(size(timeIncrements)) - 1); +end + From 201b08767b135a5161954726ce11c76a32f0deaf Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 15 Jun 2023 14:10:21 +0200 Subject: [PATCH 13/53] Added body height parameter and change upper trunk COG to HAT group --- matlab/mathmodel_calculator.m | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m index d5005be..9e31d31 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/mathmodel_calculator.m @@ -51,21 +51,22 @@ % General values g = 9.81; % m/s2 m_body = 90; % Body total weight (kg) +h_body = 170; % Body total height (cm) m_barbell = 100; % Barbell total weight (kg) % Limbs lengths and CM offsets (m) -L_leg = 0.231; -L_thigh = 0.237; -L_trunk = 0.303; +L_leg = 0.231*h_body/100; +L_thigh = 0.237*h_body/100; +L_trunk = 0.303*h_body/100; Lp_leg = 0.433*L_leg; Ld_leg = 0.567*L_leg; Lp_thigh = 0.433*L_thigh; Ld_thigh = 0.567*L_thigh; -Lp_trunk = 0.500*L_trunk; -Ld_trunk = 0.500*L_trunk; +Lp_trunk = 0.626*L_trunk; +Ld_trunk = 0.374*L_trunk; % Limbs weights and partial weights (kg) m_leg = 0.0465*m_body; m_thigh = 0.1000*m_body; -m_trunk = 0.4970*m_body; +m_trunk = 0.6780*m_body; % Limb turning radios (for inertia) r_cg_leg = 0.302*L_leg; From 8ac807db260f79d6ce667008b6591c533f1d32b0 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 15 Jun 2023 17:28:28 +0200 Subject: [PATCH 14/53] Add config info to docs --- docs/home.md | 2 +- docs/setup/config_file.md | 14 ++++++++++++++ 2 files changed, 15 insertions(+), 1 deletion(-) create mode 100644 docs/setup/config_file.md diff --git a/docs/home.md b/docs/home.md index 4eff8de..72b52f4 100644 --- a/docs/home.md +++ b/docs/home.md @@ -11,7 +11,7 @@ Welcome to the `force_platform` documentation! Here you will find all the necess Here is a ordered list of the documentation files provided in this wiki. 1. [Project setup](setup/project.md) -3. [Config file]() +3. [Config file](setup/config_file.md) 4. [Sensors]() 5. [Execute a test]() 6. [Calibrate sensors]() diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md new file mode 100644 index 0000000..7b03454 --- /dev/null +++ b/docs/setup/config_file.md @@ -0,0 +1,14 @@ +[< back to home](../home.md) + +[Back to Home](../home.md) + +[Back to Home](../home.md) + +ctrl + c + +# Config File + +This is just a test + +https://github.com/AaronPB/force_platform/blob/ff0bc6e560059a0f24c1a4f958310db56597d932/config.yaml#L1-L6 + From 6941e4866d59e4db928acda0c3a848fb2dc93c38 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 15 Jun 2023 17:49:17 +0200 Subject: [PATCH 15/53] Update home button --- docs/setup/config_file.md | 38 +++++++++++++++++++++++++++++++------- docs/setup/project.md | 4 ++-- 2 files changed, 33 insertions(+), 9 deletions(-) diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index 7b03454..8d1a0d8 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -1,14 +1,38 @@ -[< back to home](../home.md) +[:house: Back to Home](../home.md) -[Back to Home](../home.md) +# Config File -[Back to Home](../home.md) +Config main content: +- [Test options](#test-options) +- [Platform 1 loadcell list](#platform-1-loadcell-list) +- [Platform 2 loadcell list](#platform-2-loadcell-list) +- [Encoder list](#encoder-list) +- [IMU list](#imu-list) -ctrl + c +## Test options -# Config File +https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L1-L3 + +## Platform 1 loadcell list +Declare the amount of Phidget loadcells in the first platform. + +https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L11-L22 + +## Platform 2 loadcell list +Declare the amount of Phidget loadcells in the second platform. + +https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L144-L155 + +## Encoder list +Declare the amount of Phidget encoders. + +https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L277-L289 + +## IMU list +Declare the amount of Taobotics IMUs. -This is just a test +https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L302-L312 -https://github.com/AaronPB/force_platform/blob/ff0bc6e560059a0f24c1a4f958310db56597d932/config.yaml#L1-L6 +--- +[:house: Back to Home](../home.md) \ No newline at end of file diff --git a/docs/setup/project.md b/docs/setup/project.md index e0c36a7..86e87c5 100644 --- a/docs/setup/project.md +++ b/docs/setup/project.md @@ -1,4 +1,4 @@ -[< back to home](../home.md) +[:house: Back to Home](../home.md) # Project setup @@ -20,4 +20,4 @@ The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 L --- -[< back to home](../home.md) \ No newline at end of file +[:house: Back to Home](../home.md) \ No newline at end of file From b43f8ff9c1d192a7e03134640bb0556c7be77bc3 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 15 Jun 2023 18:19:27 +0200 Subject: [PATCH 16/53] Add installation info --- docs/setup/project.md | 58 ++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 55 insertions(+), 3 deletions(-) diff --git a/docs/setup/project.md b/docs/setup/project.md index 86e87c5..b7dacd1 100644 --- a/docs/setup/project.md +++ b/docs/setup/project.md @@ -1,4 +1,4 @@ -[:house: Back to Home](../home.md) +:house: [Back to Home](../home.md) # Project setup @@ -16,8 +16,60 @@ The project has been tested in `Windows 11` without IMUs, and in `Ubuntu 12.04 L ## Installation procedure -**Work in progress** +### 1. Clone the repository + +Clone the `force_platform` repository: + +```bash +git clone git@github.com:AaronPB/force_platform.git +``` + +### 2. Install python required modules + +Install the project requirements: + +```bash +cd force_platform/ +pip install -r requirements +``` + +### 3. Install sensor dependencies + +#### Phidget dependency + +For [Linux](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads): + +```bash +curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash - &&\ +sudo apt-get install -y libphidget22 +``` + +> For [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads) or [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads) + +#### MRPT dependency + +For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa) + +```bash +sudo add-apt-repository ppa:joseluisblancoc/mrpt +sudo apt install libmrpt-dev mrpt-apps +sudo apt install python3-pymrpt +``` + +> If you are using `virtualenv` (or any other virtual environment), MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file. + +## Run the project + +When all dependencies are installed, try to run the `main.py` file in the `force_platform` repository from IDE or a terminal: + +```bash +cd force_platform/ +chmod +x main.py +main.py +``` + +If the main GUI shows up, its done! --- -[:house: Back to Home](../home.md) \ No newline at end of file +:house: [Back to Home](../home.md) \ No newline at end of file From b053272257fb54f88d1bd5d870ced79f75053b7c Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 16 Jun 2023 09:15:40 +0200 Subject: [PATCH 17/53] Modify functions to individual angles --- matlab/mathmodel_calculator.m | 5 ++-- matlab/test_angle_trajectories_linear.m | 32 +++++--------------- matlab/test_angle_trajectories_parabolic.m | 34 +++++----------------- 3 files changed, 19 insertions(+), 52 deletions(-) diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m index 9e31d31..4fcaa62 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/mathmodel_calculator.m @@ -44,8 +44,9 @@ pos_f_C = pi/5; reps = 2; -% [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_linear(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps); -[absangle_A,absangle_B,absangle_C] = test_angle_trajectories_parabolic(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps); +absangle_A = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_A); +absangle_B = test_angle_trajectories_parabolic(timeIncrements,reps,pos_i,pos_f_B); +absangle_C = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_C); %% MODEL PARAMETERS % General values diff --git a/matlab/test_angle_trajectories_linear.m b/matlab/test_angle_trajectories_linear.m index 134a6f3..dd2bda7 100644 --- a/matlab/test_angle_trajectories_linear.m +++ b/matlab/test_angle_trajectories_linear.m @@ -1,33 +1,17 @@ -function [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_linear(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps) +function [absangle] = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f) %% test_angle_trajectories_linear % Author: Aaron Raul Poyatos Bakker % Date: 13/06/2023 -% Generates absolute angle test values between common initial pose and -% specific final pose for each angle. +% Generates absolute angle test values between initial and final pose. rep_points = numel(timeIncrements)/reps; - absangle_A1 = linspace(pos_i, pos_f_A, round(rep_points/2)); - absangle_A2 = linspace(pos_f_A, pos_i, rep_points - round(rep_points/2)+1); - absangle_B1 = linspace(pos_i, pos_f_B, round(rep_points/2)); - absangle_B2 = linspace(pos_f_B, pos_i, rep_points - round(rep_points/2)+1); - absangle_C1 = linspace(pos_i, pos_f_C, round(rep_points/2)); - absangle_C2 = linspace(pos_f_C, pos_i, rep_points - round(rep_points/2)+1); + absangle_1 = linspace(pos_i, pos_f, round(rep_points/2)); + absangle_2 = linspace(pos_f, pos_i, rep_points - round(rep_points/2)+1); + absangle = [absangle_1, absangle_2]; - absangle_A = [absangle_A1, absangle_A2]; - absangle_B = [absangle_B1, absangle_B2]; - absangle_C = [absangle_C1, absangle_C2]; - - absangle_A = repmat(absangle_A, 1, reps); - absangle_B = repmat(absangle_B, 1, reps); - absangle_C = repmat(absangle_C, 1, reps); - - absangle_A = transpose(absangle_A(1:numel(timeIncrements))); - absangle_B = transpose(absangle_B(1:numel(timeIncrements))); - absangle_C = transpose(absangle_C(1:numel(timeIncrements))); + absangle = repmat(absangle, 1, reps); + absangle = transpose(absangle(1:numel(timeIncrements))); % Apply noise - % absangle_A = absangle_A + 0.01 * (2*rand(size(timeIncrements)) - 1); - % absangle_B = absangle_B + 0.01 * (2*rand(size(timeIncrements)) - 1); - % absangle_C = absangle_C + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle = absangle + 0.01 * (2*rand(size(timeIncrements)) - 1); end - diff --git a/matlab/test_angle_trajectories_parabolic.m b/matlab/test_angle_trajectories_parabolic.m index 4aafba1..f99a9dc 100644 --- a/matlab/test_angle_trajectories_parabolic.m +++ b/matlab/test_angle_trajectories_parabolic.m @@ -1,9 +1,8 @@ -function [absangle_A,absangle_B,absangle_C] = test_angle_trajectories_parabolic(timeIncrements,pos_i,pos_f_A,pos_f_B,pos_f_C,reps) +function [absangle] = test_angle_trajectories_parabolic(timeIncrements,reps,pos_i,pos_f) %% test_angle_trajectories_parabolic % Author: Aaron Raul Poyatos Bakker % Date: 13/06/2023 -% Generates absolute angle test values between common initial pose and -% specific final pose for each angle. +% Generates absolute angle test values between initial and final pose. rep_points = numel(timeIncrements) / reps; x1 = linspace(0, 1, round(rep_points/2)); @@ -12,30 +11,13 @@ y1 = sqrt(x1); y2 = -sqrt(x2); - absangle_A1 = pos_i + (pos_f_A - pos_i) * y1; - absangle_A2 = pos_f_A + (-pos_i + pos_f_A) * y2; - - absangle_B1 = pos_i + (pos_f_B - pos_i) * y1; - absangle_B2 = pos_f_B + (-pos_i + pos_f_B) * y2; - - absangle_C1 = pos_i + (pos_f_C - pos_i) * y1; - absangle_C2 = pos_f_C + (-pos_i + pos_f_C) * y2; - - absangle_A = [absangle_A1, absangle_A2]; - absangle_B = [absangle_B1, absangle_B2]; - absangle_C = [absangle_C1, absangle_C2]; + absangle_1 = pos_i + (pos_f - pos_i) * y1; + absangle_2 = pos_f + (-pos_i + pos_f) * y2; + absangle = [absangle_1, absangle_2]; - absangle_A = repmat(absangle_A, 1, reps); - absangle_B = repmat(absangle_B, 1, reps); - absangle_C = repmat(absangle_C, 1, reps); - - absangle_A = transpose(absangle_A(1:numel(timeIncrements))); - absangle_B = transpose(absangle_B(1:numel(timeIncrements))); - absangle_C = transpose(absangle_C(1:numel(timeIncrements))); + absangle = repmat(absangle, 1, reps); + absangle = transpose(absangle(1:numel(timeIncrements))); % Apply noise - % absangle_A = absangle_A + 0.01 * (2*rand(size(timeIncrements)) - 1); - % absangle_B = absangle_B + 0.01 * (2*rand(size(timeIncrements)) - 1); - % absangle_C = absangle_C + 0.01 * (2*rand(size(timeIncrements)) - 1); + % absangle = absangle + 0.01 * (2*rand(size(timeIncrements)) - 1); end - From 103f8ff0089312311ea918ff6c6552ca3dcd8e95 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 16 Jun 2023 12:10:00 +0200 Subject: [PATCH 18/53] WIP fix duplicate COP plotting and added angle vars for IMUs --- src/inputReader.py | 9 ++++++--- src/interface.py | 6 ++++-- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/src/inputReader.py b/src/inputReader.py index 9d7ad6b..0590679 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -192,14 +192,17 @@ def readerStop(self): # - Relative COP of Platform 2 # - TODO IMU values def getPlotterData(self): - x_cop_p1 = y_cop_p1 = x_cop_p2 = y_cop_p2 = 0 + x_cop_p1 = y_cop_p1 = 0 + x_cop_p2 = y_cop_p2 = 0 + ankle_angle = thigh_angle = trunk_angle = 0 + sensor_dataframe = self.sensor_dataframe.getDataFrame() dataframe_size = sensor_dataframe.shape[1] if dataframe_size < 13: self.log_handler.logger.warn( "Ignoring relative COP values because the sensor dataframe has " + str(dataframe_size) + " instead of minimum 13.") - return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2] + return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2, ankle_angle, thigh_angle, trunk_angle] # Get relative COPs for both platforms if len(self.phidgetP1LoadCellsHandler.getSensorHeaders()) == 12: @@ -219,7 +222,7 @@ def getPlotterData(self): # TODO process pass - return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2] + return [x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2, ankle_angle, thigh_angle, trunk_angle] # == TARE PROCESS def tareApply(self, timestamp_init, timestamp_end): diff --git a/src/interface.py b/src/interface.py index 1d61361..50af6ab 100644 --- a/src/interface.py +++ b/src/interface.py @@ -472,11 +472,13 @@ def generatePlots(self): self.hbox_bottom.addLayout(vbox_plot3) def updatePlots(self): - x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2 = self.inputReader.getPlotterData() + x_cop_p1, y_cop_p1, x_cop_p2, y_cop_p2, \ + ankle_angle, thigh_angle, trunk_angle = \ + self.inputReader.getPlotterData() # Update relative COP Platform 1 self.line1.set_data(x_cop_p1, y_cop_p1) self.canvas1.draw() # Update relative COP Platform 2 - self.line2.set_data(x_cop_p1, y_cop_p1) + self.line2.set_data(x_cop_p2, y_cop_p2) self.canvas2.draw() # TODO Update IMU From 88ecc364dc7c97f09efae3091a1ce522aba9c423 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 19 Jun 2023 11:46:26 +0200 Subject: [PATCH 19/53] Update config format and remove unused params. closes #4 --- config.yaml | 152 ++++++++++----------------- src/handlers/taoboticsIMUsHandler.py | 3 +- src/inputReader.py | 50 +++++++-- src/interface.py | 7 +- src/interfaceCalibration.py | 5 +- 5 files changed, 105 insertions(+), 112 deletions(-) diff --git a/config.yaml b/config.yaml index 076b578..1767009 100644 --- a/config.yaml +++ b/config.yaml @@ -1,13 +1,15 @@ -test_options: - folder: /home/aaroncite4/Documents/Github/force_platform/pruebas - name: Ensayo1 - type: - limited: false - time_limit: 100 -file_config: - folder_path: ../data/ - generate_plots: false - save_data: true +general_settings: + calibration_times: + data_interval_ms: 10 + recording_time: 3000 + test_times: + data_interval_ms: 10 + tare_time_ms: 3000 + test_file_path: + folder: /home/aaroncite4/Documents/Github/force_platform/pruebas + name: Ensayo1 + test_results: + generate_plots: false p1_phidget_loadcell_list: load_cell_1: name: P1_LoadCell_Z_1 @@ -19,7 +21,7 @@ p1_phidget_loadcell_list: max_weight: 150kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -4.667007555854823 load_cell_2: name: P1_LoadCell_Z_2 channel: 1 @@ -30,7 +32,7 @@ p1_phidget_loadcell_list: max_weight: 150kg calibration_data: m: 1092233.0 - b: -5.5889 + b: 0.3028081334154704 load_cell_3: name: P1_LoadCell_Z_3 channel: 2 @@ -41,7 +43,7 @@ p1_phidget_loadcell_list: max_weight: 150kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -1.3803375532391176 load_cell_4: name: P1_LoadCell_Z_4 channel: 3 @@ -52,101 +54,101 @@ p1_phidget_loadcell_list: max_weight: 150kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -5.576889123421235 load_cell_5: name: P1_LoadCell_X_1 channel: 0 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805051 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -6.703132528097588 load_cell_6: name: P1_LoadCell_X_2 channel: 1 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805067 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -2.8889927708732945 load_cell_7: name: P1_LoadCell_X_3 channel: 2 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805061 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -6.575050649973823 load_cell_8: name: P1_LoadCell_X_4 channel: 3 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805082 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -6.771905844414412 load_cell_9: name: P1_LoadCell_Y_1 channel: 0 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805088 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -1.820442360443412 load_cell_10: name: P1_LoadCell_Y_2 channel: 1 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805064 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -6.691355282006823 load_cell_11: name: P1_LoadCell_Y_3 channel: 2 serial: 588715 - read_data: false + read_data: true properties: serial_number: TC755992 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -11.997068726715117 load_cell_12: name: P1_LoadCell_Y_4 channel: 3 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805053 max_weight: 110kg calibration_data: m: 1092233.0 - b: -5.5889 + b: -8.769974743155295 p2_phidget_loadcell_list: load_cell_1: name: P2_LoadCell_Z_1 channel: 0 serial: 588569 - read_data: false + read_data: true properties: serial_number: W019737 max_weight: 150kg @@ -157,7 +159,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_2 channel: 1 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162733 max_weight: 150kg @@ -168,7 +170,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_3 channel: 2 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162736 max_weight: 150kg @@ -179,7 +181,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_4 channel: 3 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162741 max_weight: 150kg @@ -190,7 +192,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_1 channel: 0 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805080 max_weight: 110kg @@ -201,7 +203,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_2 channel: 1 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805058 max_weight: 110kg @@ -212,7 +214,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_3 channel: 2 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805066 max_weight: 110kg @@ -223,7 +225,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_4 channel: 3 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805068 max_weight: 110kg @@ -234,7 +236,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_1 channel: 0 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805059 max_weight: 110kg @@ -245,7 +247,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_2 channel: 1 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805079 max_weight: 110kg @@ -256,7 +258,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_3 channel: 2 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805056 max_weight: 110kg @@ -267,7 +269,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_4 channel: 3 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805063 max_weight: 110kg @@ -279,7 +281,7 @@ phidget_encoder_list: name: Encoder_Z_1 channel: 0 serial: 641800 - read_data: false + read_data: true initial_position: 0 properties: serial_number: AAAA @@ -291,7 +293,7 @@ phidget_encoder_list: name: Encoder_Z_2 channel: 1 serial: 641800 - read_data: false + read_data: true initial_position: 0 properties: serial_number: AAAA @@ -302,64 +304,22 @@ phidget_encoder_list: taobotics_imu_list: imu_1: name: IMU_Leg_Right - channel: 0 - serial: /dev/ttyUSB0 - read_data: false + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 + read_data: true properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 + tag: IMU_1 imu_2: - name: IMU_Leg_Left - channel: 0 - serial: /dev/ttyUSB1 - read_data: false - properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 - imu_3: name: IMU_Thigh_Right - channel: 0 - serial: /dev/ttyUSB2 - read_data: false - properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 - imu_4: - name: IMU_Thigh_Left - channel: 0 - serial: /dev/ttyUSB3 - read_data: false + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.4:1.0-port0 + read_data: true properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 - imu_5: + tag: IMU_2 + imu_3: name: IMU_UpperTrunk_Right - channel: 0 - serial: /dev/ttyUSB4 - read_data: false - properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 - imu_6: - name: IMU_UpperTrunk_Left - channel: 0 - serial: /dev/ttyUSB5 - read_data: false + serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.2:1.0-port0 + read_data: true properties: - serial_number: AAAA - calibration_data: - m: 1.0 - b: 0.0 + tag: IMU_3 calibration_sensor: name: S-Type Phidget Load Cell channel: 0 diff --git a/src/handlers/taoboticsIMUsHandler.py b/src/handlers/taoboticsIMUsHandler.py index 1e7b583..7efa923 100644 --- a/src/handlers/taoboticsIMUsHandler.py +++ b/src/handlers/taoboticsIMUsHandler.py @@ -20,8 +20,7 @@ def __init__(self, sensor_set_name): def addSensor(self, sensor_params: dict): required_keys = ['id', 'name', 'read_data', 'serial', - 'channel', 'calibration_data', 'properties', - 'config_path'] + 'properties', 'config_path'] if not all(key in sensor_params.keys() for key in required_keys): self.log_handler.logger.error( "Sensor does not have the required keys!") diff --git a/src/inputReader.py b/src/inputReader.py index 0590679..b972dd0 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -63,19 +63,39 @@ def configEdit(self, keyPath, value): self.configSave() def configLoadParams(self): - self.loadFiles() + self.loadGeneralSettings() self.loadSensors() - def loadFiles(self): + def loadGeneralSettings(self): + # TODO config format check + general_settings_path = self.config['general_settings'] + # Get test and calibration times + self.QT_times_dict = {} + # Default values (all in ms) + self.QT_times_dict['calibration_interval'] = 10 + self.QT_times_dict['calibration_time'] = 2000 + self.QT_times_dict['test_interval'] = 10 + self.QT_times_dict['test_tare_time'] = 3000 + calibration_times_path = general_settings_path['calibration_times'] + if 'data_interval_ms' in calibration_times_path: + self.QT_times_dict['calibration_interval'] = calibration_times_path['data_interval_ms'] + if 'recording_time' in calibration_times_path: + self.QT_times_dict['calibration_time'] = calibration_times_path['recording_time'] + test_times_path = general_settings_path['test_times'] + if 'data_interval_ms' in test_times_path: + self.QT_times_dict['test_interval'] = test_times_path['data_interval_ms'] + if 'tare_time_ms' in test_times_path: + self.QT_times_dict['test_tare_time'] = test_times_path['tare_time_ms'] + # Check test path and test name self.test_folder = "" self.test_name = "" - if 'folder' in self.config['test_options']: - if os.path.isdir(self.config['test_options']['folder']): - self.test_folder = os.path.join( - self.config['test_options']['folder']) - if 'name' in self.config['test_options']: - self.test_name = self.config['test_options']['name'] + test_file_path = general_settings_path['test_file_path'] + if 'folder' in test_file_path: + if os.path.isdir(test_file_path['folder']): + self.test_folder = os.path.join(test_file_path['folder']) + if 'name' in test_file_path: + self.test_name = test_file_path['name'] # Filter config sensor lists def loadSensors(self): @@ -117,6 +137,18 @@ def connectSensors(self): self.taoboticsIMUsHandler.connect()]) self.log_handler.logger.info("Connection process done!") + def getTestInterval(self): + return self.QT_times_dict['test_interval'] + + def getTestTareTime(self): + return self.QT_times_dict['test_tare_time'] + + def getCalibrationInterval(self): + return self.QT_times_dict['calibration_interval'] + + def getCalibrationTime(self): + return self.QT_times_dict['calibration_time'] + def getPlatform1SensorStatus(self): return self.phidgetP1LoadCellsHandler.getSensorListDict() @@ -180,7 +212,7 @@ def readerStop(self): self.sensor_dataframe_raw.exportToCSV(os.path.join( self.test_folder, self.test_name + '_RAW' + '.csv')) # WIP Plot results - plot_columns = [0, 7, 14, 21] + plot_columns = [0, 1, 2, 3, 4] plot_dataframe = self.sensor_dataframe.getDataFrame( ).iloc[:, plot_columns].copy() print(plot_dataframe) diff --git a/src/interface.py b/src/interface.py index 50af6ab..5b8ea18 100644 --- a/src/interface.py +++ b/src/interface.py @@ -372,7 +372,7 @@ def startTest(self): self.tare_btn.setEnabled(True) self.stop_btn.setEnabled(True) # Start reader process with the specified rate in ms - self.test_timer.start(10) + self.test_timer.start(self.inputReader.getTestInterval()) def stopTest(self): self.tare_btn.setEnabled(False) @@ -388,8 +388,9 @@ def tareSensors(self): self.tare_btn.setEnabled(False) start_time = round(time.time()*1000) self.tare_timer.start() - # Tare with 3 seconds of current data - QtCore.QTimer.singleShot(3000, self.tare_timer.stop) + # Tare with current data in specified time + QtCore.QTimer.singleShot( + self.inputReader.getTestTareTime(), self.tare_timer.stop) while self.tare_timer.isActive(): QtCore.QCoreApplication.processEvents() diff --git a/src/interfaceCalibration.py b/src/interfaceCalibration.py index 00a088b..febf5da 100644 --- a/src/interfaceCalibration.py +++ b/src/interfaceCalibration.py @@ -236,9 +236,10 @@ def executeTest(self, reference_sensor): self.measure_reference_button.setEnabled(False) self.calibrate_button.setEnabled(False) # Start calibration process with the specified rate in ms - self.calibration_timer.start(10) + self.calibration_timer.start(self.inputReader.getCalibrationInterval()) # During specified time in ms - QtCore.QTimer.singleShot(3000, self.calibration_timer.stop) + QtCore.QTimer.singleShot( + self.inputReader.getCalibrationTime(), self.calibration_timer.stop) while self.calibration_timer.isActive(): QtCore.QCoreApplication.processEvents() From c533a126e5b2f2ad68bc19a652fb9d5f46c12cc5 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 19 Jun 2023 11:56:31 +0200 Subject: [PATCH 20/53] Update new config permalinks in docs. --- docs/setup/config_file.md | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index 8d1a0d8..2ab8906 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -1,38 +1,43 @@ -[:house: Back to Home](../home.md) +:house: [Back to Home](../home.md) # Config File Config main content: -- [Test options](#test-options) +- [General settings](#general-settings) - [Platform 1 loadcell list](#platform-1-loadcell-list) - [Platform 2 loadcell list](#platform-2-loadcell-list) - [Encoder list](#encoder-list) - [IMU list](#imu-list) -## Test options +## General settings -https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L1-L3 +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L1-L12 ## Platform 1 loadcell list Declare the amount of Phidget loadcells in the first platform. -https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L11-L22 +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L13-L24 ## Platform 2 loadcell list Declare the amount of Phidget loadcells in the second platform. -https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L144-L155 +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L146-L157 ## Encoder list Declare the amount of Phidget encoders. -https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L277-L289 +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L279-L291 ## IMU list Declare the amount of Taobotics IMUs. -https://github.com/AaronPB/force_platform/blob/8ac807db260f79d6ce667008b6591c533f1d32b0/config.yaml#L302-L312 +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L304-L310 + +## Calibration sensor +Define here a Phidget loadcell that will be used for reference data when calibrating,S instead of manual inputs. + +https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L323-L333 --- -[:house: Back to Home](../home.md) \ No newline at end of file +:house: [Back to Home](../home.md) \ No newline at end of file From 903eb4b6cc6a180ae4f84bb3b821558ae89ff772 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Tue, 20 Jun 2023 14:50:41 +0200 Subject: [PATCH 21/53] Fix config keys and renamed method --- src/interface.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/interface.py b/src/interface.py index 5b8ea18..a941802 100644 --- a/src/interface.py +++ b/src/interface.py @@ -166,8 +166,8 @@ def selectFolder(self): self, 'Seleccionar carpeta', options=options) if folder_path: self.inputReader.configEdit( - 'test_options.folder', folder_path) - self.inputReader.loadFiles() + 'general_settings.test_file_path.folder', folder_path) + self.inputReader.loadGeneralSettings() self.updatePaths() self.log_handler.logger.info( "Changed folder path to: " + str(folder_path)) @@ -177,8 +177,8 @@ def applyText(self): if not name: name = "Ensayo de pruebas" self.inputReader.configEdit( - 'test_options.name', name) - self.inputReader.loadFiles() + 'general_settings.test_file_path.name', name) + self.inputReader.loadGeneralSettings() self.updatePaths() self.log_handler.logger.info("Changed test name to: " + str(name)) From 44dc9268e2ffb4e4962b903276f9c688cd619d19 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Tue, 20 Jun 2023 14:52:48 +0200 Subject: [PATCH 22/53] Fix quat2eul and change import data process --- matlab/mathmodel_calculator.m | 55 ++++++++++++++++++++++++++--------- 1 file changed, 41 insertions(+), 14 deletions(-) diff --git a/matlab/mathmodel_calculator.m b/matlab/mathmodel_calculator.m index 4fcaa62..e69e95a 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/mathmodel_calculator.m @@ -5,16 +5,16 @@ %% IMPORT DATA % Change path to desired csv file -data = readmatrix('../pruebas/EnsayoTODO.csv', 'Delimiter', ','); +data = readtable('../pruebas/EnsayoGiros.csv', 'Delimiter', ','); % Data -timestamps = data(:, 1); -imu_1_q = data(:, 28:31); % x,y,z,w -imu_1_w = data(:, 32:34); % x,y,z -imu_2_q = data(:, 35:38); % x,y,z,w -imu_2_w = data(:, 39:41); % x,y,z -imu_3_q = data(:, 42:45); % x,y,z,w -imu_3_w = data(:, 46:48); % x,y,z +timestamps = data.timestamp; +imu_1_q = [data.IMU_Leg_Right_qw, data.IMU_Leg_Right_qx, data.IMU_Leg_Right_qy, data.IMU_Leg_Right_qz]; +imu_1_w = [data.IMU_Leg_Right_wx, data.IMU_Leg_Right_wy, data.IMU_Leg_Right_wz]; +imu_2_q = [data.IMU_Thigh_Right_qw, data.IMU_Thigh_Right_qx, data.IMU_Thigh_Right_qy, data.IMU_Thigh_Right_qz]; +imu_2_w = [data.IMU_Thigh_Right_wx, data.IMU_Thigh_Right_wy, data.IMU_Thigh_Right_wz]; +imu_3_q = [data.IMU_UpperTrunk_Right_qw, data.IMU_UpperTrunk_Right_qx, data.IMU_UpperTrunk_Right_qy, data.IMU_UpperTrunk_Right_qz]; +imu_3_w = [data.IMU_UpperTrunk_Right_wx, data.IMU_UpperTrunk_Right_wy, data.IMU_UpperTrunk_Right_wz]; % Transform timestamp to seconds timeIncrements = timestamps/1000 - timestamps(1)/1000; @@ -28,7 +28,7 @@ % TODO CHECK REAL DATA VALUES TO TRANSFORM IN ABS ANGLES absangle_A = imu_1_eul(:, 3); % Leg Z angle absangle_B = imu_2_eul(:, 3); % Thigh Z angle -absangle_C = imu_3_eul(:, 2); % Trunk Y angle +absangle_C = imu_3_eul(:, 1); % Trunk Y angle size(absangle_A) @@ -128,8 +128,9 @@ iter = length(timeIncrements); x_cell = cell(iter, 1); +offset = 3; % Avoid initial acceleration peaks -for k = 1:iter +for k = 1+offset:iter A = [ 1, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0; 0, 1, 0, -1, 0, 0, 0, 0, 0, 0, 0; @@ -158,7 +159,7 @@ m_barbell*g; ]; - x = inv(A) * b; + x = A\b; x_cell{k} = x; end @@ -171,7 +172,7 @@ m1 = zeros(length(timeIncrements), 1); m2 = zeros(length(timeIncrements), 1); m3 = zeros(length(timeIncrements), 1); -for k = 1:iter +for k = 1+offset:iter current_cell = x_cell{k}; current_m1 = current_cell(9,1); current_m2 = current_cell(10,1); @@ -182,14 +183,14 @@ end % Plot absolute angles and momentums -figure; +figure (1); subplot(3, 1, 1); plot(timeIncrements, [rad2deg(absangle_A),rad2deg(absangle_B),rad2deg(absangle_C)], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Angle (º)'); title('Absolute angles'); -legend('Absolute angle A Z', 'Absolute angle B Z', 'Absolute angle C Y'); +legend('Ankle (Z axis)', 'Knee (Z axis)', 'Hip (Y axis)'); subplot(3, 1, 2); plot(timeIncrements, [a_leg_z,a_thigh_z,a_trunk_z], 'LineWidth', 1.5); @@ -206,3 +207,29 @@ ylabel('Momentum (Nm)'); title('Momentums'); legend('Ankle', 'Knee', 'Hip'); + +% Plot only absolute angles +figure (2); +subplot(3, 1, 1); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 1)),rad2deg(imu_2_eul(:, 1)),rad2deg(imu_3_eul(:, 1))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles X axis'); +legend('Ankle', 'Knee', 'Hip'); + +subplot(3, 1, 2); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 2)),rad2deg(imu_2_eul(:, 2)),rad2deg(imu_3_eul(:, 2))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles Y axis'); +legend('Ankle', 'Knee', 'Hip'); + +subplot(3, 1, 3); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 3)),rad2deg(imu_2_eul(:, 3)),rad2deg(imu_3_eul(:, 3))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles Z axis'); +legend('Ankle', 'Knee', 'Hip'); From 3c4eb7b296379bdbe905c76f64d39c268e9d59ca Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 21 Jun 2023 17:14:40 +0200 Subject: [PATCH 23/53] Update config docs with config key descriptions. --- docs/setup/config_file.md | 56 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 55 insertions(+), 1 deletion(-) diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index 2ab8906..700dcd8 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -8,36 +8,90 @@ Config main content: - [Platform 2 loadcell list](#platform-2-loadcell-list) - [Encoder list](#encoder-list) - [IMU list](#imu-list) +- [Calibration sensor](#calibration-sensor) ## General settings https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L1-L12 +Information of all the keys involved in this config section: + +| Key | Type | Description | +| :--- | :---: | :--- | +| `calibration_times.data_interval_ms` | INT | Data recording frequency (in ms). | +| `calibration_times.recording_time` | INT | Data recording duration (in ms). | +| `test_times.data_interval_ms` | INT | Data recording frequency (in ms). | +| `test_times.tare_time_ms` | INT | Duration of data recording to tare (in ms). | +| `test_file_path.folder` | STRING | Path to desired folder where the `csv` files will be saved. | +| `test_file_path.name` | STRING | Name of the generated `csv` files. | +| `test_results.generate_plots` | BOOL | Work in progress. | + ## Platform 1 loadcell list Declare the amount of Phidget loadcells in the first platform. https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L13-L24 +Information of all the keys involved in this config section: + +| Key | Type | Description | +| :---: | :---: | :--- | +| `load_cell_x` | STRING | ID of load cell section. | +| `name` | STRING | Load cell name. | +| `channel` | INT | Channel number (0 to 3) in Phidget device. | +| `serial` | INT | USB serial number of Phidget device. | +| `read_data` | BOOL | Enable or disable loadcell data recording. Can be modified in GUI. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information about the loadcell. This will be shown in calibration section. | +| `calibration_data.m` | INT | Slope parameter. | +| `calibration_data.b` | INT | Intercept parameter. | + ## Platform 2 loadcell list Declare the amount of Phidget loadcells in the second platform. https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L146-L157 +The config section keys are the same as in [Platform 1 loadcell list](#platform-1-loadcell-list). + ## Encoder list Declare the amount of Phidget encoders. https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L279-L291 +Information of all the keys involved in this config section: + +| Key | Type | Description | +| :---: | :---: | :--- | +| `encoder_x` | STRING | ID of encoder section. | +| `name` | STRING | Encoder name. | +| `channel` | INT | Channel number (0 to 3) in Phidget device. | +| `serial` | INT | USB serial number of Phidget device. | +| `read_data` | BOOL | Enable or disable encoder data recording. Can be modified in GUI. | +| `initial_position` | INT | The initial value of the encoder state. The sensor generates incremental values. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information. This will be shown in calibration section. | +| `calibration_data.m` | INT | Slope parameter. | +| `calibration_data.b` | INT | Intercept parameter. | + ## IMU list Declare the amount of Taobotics IMUs. https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L304-L310 +Information of all the keys involved in this config section: + +| Key | Type | Description | +| :---: | :---: | :--- | +| `imu_x` | STRING | ID of IMU section. | +| `name` | STRING | IMU name. | +| `serial` | STRING | Absolute USB path. Use `ll /dev/serial/by-path/`. | +| `read_data` | BOOL | Enable or disable IMU data recording. Can be modified in GUI. | +| `properties` | - | (Could be empty) Configuration section where you can provide more information. This will be shown in calibration section. | + ## Calibration sensor -Define here a Phidget loadcell that will be used for reference data when calibrating,S instead of manual inputs. +Define here a Phidget loadcell that will be used for reference data when calibrating, instead of manual inputs. https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L323-L333 +The config section keys are similar as in [Platform 1 loadcell list](#platform-1-loadcell-list). + --- :house: [Back to Home](../home.md) \ No newline at end of file From 65e7b90877cef6f8611979d8ce9323f24f51041b Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 21 Jun 2023 20:53:40 +0200 Subject: [PATCH 24/53] WIP Added features folder with available test procedures in docs --- docs/features/calibration_test.md | 65 +++++++++++++++++++++++++++++++ docs/features/general_test.md | 8 ++++ docs/home.md | 11 +++--- docs/setup/sensors.md | 8 ++++ 4 files changed, 86 insertions(+), 6 deletions(-) create mode 100644 docs/features/calibration_test.md create mode 100644 docs/features/general_test.md create mode 100644 docs/setup/sensors.md diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md new file mode 100644 index 0000000..7f1e45f --- /dev/null +++ b/docs/features/calibration_test.md @@ -0,0 +1,65 @@ +:house: [Back to Home](../home.md) + +# Calibration process +**Work in progress** + +Previously, you need to connect the sensors you want to calibrate in the main GUI as shown in the following picture. + +*TODO image* + +Then, click on the `Calibrar células` button on the left panel. This button will be available if at least one of the selected sensors is connected. + +## Calibration menu + +This menu will replace the main GUI, with the compatible sensors. The appearance of the calibration menu is presented in the following image. + +*TODO image* + +The menu loads all compatible sensor lists defined in defined in `config.yaml`, but only the connected ones will be enabled. + +> If the desired sensor to be calibrated is not enabled, close de calibration menu and try to reconnect the sensors. It needs to get a green check in the sensor information table. + +The compatible sensors are: +- Phidget platform loadcells. +- Phidget encoders. + +In order to preform a calibration test, click the enabled button of the connected sensor. + +## Calibration test of a sensor + +A new window will pop up when clicking an enabled sensor button. The displayed GUI is as shown here. + +*TODO image* + +The window is structured in the following sections: +- A table in which all measurements will be recorded and the most relevant data (such as the mean and variance of the data sample) are displayed. +- An empty field and graph in which the results of the linear regression will be presented. +- A control panel divided into two rows: the first row to manage the calibration test and the second row to exit the submenu. + +*TODO Finish explaining the two types of calibration procedures.* + +### Calibrate with manual inputs +*WIP* + +### Calibrate with calibration sensor input +*WIP* + +### Generate the calibration results +Once all measurements have been taken, linear regression can be performed by clicking on the `Calibrar` button. + +> A minimum of two measurements must be taken for the `Calibrar` button to be available. + +*TODO image* + +This will generate a graph with the regression line obtained (in red) and the measurements taken (as blue dots). The values of the line are displayed above the graph. + +It is possible to continue measuring and click the `Calibrar` button again to calculate a new regression line taking into account all the values. + +### Save or discard the calibration +When the first regression line is calculated the `Guardar y cerrar` button in the second row will be enabled. Click here to close the window and overwrite the sensor calibration values in the config file with the calibration results. + +If at any time you wish to cancel the calibration test, click the `Cancelar` button. + +--- + +:house: [Back to Home](../home.md) \ No newline at end of file diff --git a/docs/features/general_test.md b/docs/features/general_test.md new file mode 100644 index 0000000..0153867 --- /dev/null +++ b/docs/features/general_test.md @@ -0,0 +1,8 @@ +:house: [Back to Home](../home.md) + +# General test procedure +**TODO** + +--- + +:house: [Back to Home](../home.md) diff --git a/docs/home.md b/docs/home.md index 72b52f4..98acd00 100644 --- a/docs/home.md +++ b/docs/home.md @@ -8,11 +8,10 @@ Welcome to the `force_platform` documentation! Here you will find all the necess ## Documentation sections -Here is a ordered list of the documentation files provided in this wiki. +Here is an ordered list of the documentation files provided in this wiki. 1. [Project setup](setup/project.md) -3. [Config file](setup/config_file.md) -4. [Sensors]() -5. [Execute a test]() -6. [Calibrate sensors]() -7. [Example case]() \ No newline at end of file +2. [Config file](setup/config_file.md) +3. [Compatible sensors](setup/sensors.md) +4. [Execute a test](features/general_test.md) +5. [Calibrate sensors](calibration_test.md) \ No newline at end of file diff --git a/docs/setup/sensors.md b/docs/setup/sensors.md new file mode 100644 index 0000000..5ec436c --- /dev/null +++ b/docs/setup/sensors.md @@ -0,0 +1,8 @@ +:house: [`Back to Home`](../home.md) + +# Compatible sensors +**TODO** + +--- + +[`:house: Back to Home`](../home.md) \ No newline at end of file From addce1d43202b1e0bac99e05774e3334ecc601c2 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 22 Jun 2023 14:52:06 +0200 Subject: [PATCH 25/53] Update calibration params and fixed some loadcell IDs --- config.yaml | 172 ++++++++++++++++++++++++++-------------------------- 1 file changed, 86 insertions(+), 86 deletions(-) diff --git a/config.yaml b/config.yaml index 1767009..fcf78a3 100644 --- a/config.yaml +++ b/config.yaml @@ -7,7 +7,7 @@ general_settings: tare_time_ms: 3000 test_file_path: folder: /home/aaroncite4/Documents/Github/force_platform/pruebas - name: Ensayo1 + name: EnsayoPesos3 test_results: generate_plots: false p1_phidget_loadcell_list: @@ -15,134 +15,134 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Z_1 channel: 0 serial: 583477 - read_data: true + read_data: false properties: serial_number: Y2131167 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -4.667007555854823 + m: 148893.5596545 + b: -0.6307595051800341 load_cell_2: name: P1_LoadCell_Z_2 channel: 1 serial: 583477 - read_data: true + read_data: false properties: serial_number: Y2131169 max_weight: 150kg calibration_data: - m: 1092233.0 - b: 0.3028081334154704 + m: 148669.5630852 + b: 0.03810777513459129 load_cell_3: name: P1_LoadCell_Z_3 channel: 2 serial: 583477 - read_data: true + read_data: false properties: - serial_number: Y2131168 + serial_number: W020822 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -1.3803375532391176 + m: 149632.0166783 + b: -0.14545850287585083 load_cell_4: name: P1_LoadCell_Z_4 channel: 3 serial: 583477 - read_data: true + read_data: false properties: - serial_number: W020822 + serial_number: Y2131168 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -5.576889123421235 + m: 148981.2171817 + b: -0.7590389289353823 load_cell_5: name: P1_LoadCell_X_1 channel: 0 serial: 583467 - read_data: true + read_data: false properties: serial_number: TT805051 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -6.703132528097588 + m: 108087.9728225 + b: -0.6423735162860709 load_cell_6: name: P1_LoadCell_X_2 channel: 1 serial: 583467 - read_data: true + read_data: false properties: serial_number: TT805067 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -2.8889927708732945 + m: 108969.1503263 + b: 0.12085782679337953 load_cell_7: name: P1_LoadCell_X_3 channel: 2 serial: 583467 - read_data: true + read_data: false properties: serial_number: TT805061 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -6.575050649973823 + m: 109557.5296413 + b: -0.7429386923191892 load_cell_8: name: P1_LoadCell_X_4 channel: 3 serial: 583467 - read_data: true + read_data: false properties: serial_number: TT805082 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -6.771905844414412 + m: 109054.0987733 + b: -0.7297277360961338 load_cell_9: name: P1_LoadCell_Y_1 channel: 0 serial: 588715 - read_data: true + read_data: false properties: serial_number: TT805088 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -1.820442360443412 + m: 109091.7733242 + b: -0.1587153674825359 load_cell_10: name: P1_LoadCell_Y_2 channel: 1 serial: 588715 - read_data: true + read_data: false properties: serial_number: TT805064 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -6.691355282006823 + m: 109202.4262106 + b: -0.7142529812102083 load_cell_11: name: P1_LoadCell_Y_3 channel: 2 serial: 588715 - read_data: true + read_data: false properties: serial_number: TC755992 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -11.997068726715117 + m: 109117.3520608 + b: -1.2116328220676955 load_cell_12: name: P1_LoadCell_Y_4 channel: 3 serial: 588715 - read_data: true + read_data: false properties: serial_number: TT805053 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -8.769974743155295 + m: 109062.2322580 + b: -0.9654276058173821 p2_phidget_loadcell_list: load_cell_1: name: P2_LoadCell_Z_1 @@ -153,8 +153,8 @@ p2_phidget_loadcell_list: serial_number: W019737 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 148746.6259125 + b: -5.6381197962843475 load_cell_2: name: P2_LoadCell_Z_2 channel: 1 @@ -164,8 +164,8 @@ p2_phidget_loadcell_list: serial_number: Z1162733 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 148810.6036536 + b: -0.8234176348519066 load_cell_3: name: P2_LoadCell_Z_3 channel: 2 @@ -175,8 +175,8 @@ p2_phidget_loadcell_list: serial_number: Z1162736 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 148820.9384659 + b: -4.717023129888452 load_cell_4: name: P2_LoadCell_Z_4 channel: 3 @@ -186,102 +186,102 @@ p2_phidget_loadcell_list: serial_number: Z1162741 max_weight: 150kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 148868.3620599 + b: -1.5141569678683349 load_cell_5: name: P2_LoadCell_X_1 channel: 0 serial: 588718 - read_data: true + read_data: false properties: - serial_number: TT805080 + serial_number: TT805059 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 109277.2383537 + b: -0.6519176093285637 load_cell_6: name: P2_LoadCell_X_2 channel: 1 serial: 588718 - read_data: true + read_data: false properties: - serial_number: TT805058 + serial_number: TT805079 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 108167.7664113 + b: -0.714905327747779 load_cell_7: name: P2_LoadCell_X_3 channel: 2 serial: 588718 - read_data: true + read_data: false properties: - serial_number: TT805066 + serial_number: TT805063 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 109645.8122859 + b: -0.6690181962431225 load_cell_8: name: P2_LoadCell_X_4 channel: 3 serial: 588718 - read_data: true + read_data: false properties: - serial_number: TT805068 + serial_number: TT805056 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 109510.7046296 + b: -0.6135379763459383 load_cell_9: name: P2_LoadCell_Y_1 channel: 0 serial: 582535 - read_data: true + read_data: false properties: - serial_number: TT805059 + serial_number: TT805080 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 108559.4790098 + b: -0.7794562145538997 load_cell_10: name: P2_LoadCell_Y_2 channel: 1 serial: 582535 - read_data: true + read_data: false properties: - serial_number: TT805079 + serial_number: TT805058 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 109123.0620917 + b: -0.8536595136361385 load_cell_11: name: P2_LoadCell_Y_3 channel: 2 serial: 582535 - read_data: true + read_data: false properties: - serial_number: TT805056 + serial_number: TT805068 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 108907.1348579 + b: -0.32279350513333327 load_cell_12: name: P2_LoadCell_Y_4 channel: 3 serial: 582535 - read_data: true + read_data: false properties: - serial_number: TT805063 + serial_number: TT805066 max_weight: 110kg calibration_data: - m: 1092233.0 - b: -5.5889 + m: 108359.7289318 + b: -0.3276362911703359 phidget_encoder_list: encoder_1: name: Encoder_Z_1 channel: 0 serial: 641800 - read_data: true + read_data: false initial_position: 0 properties: serial_number: AAAA @@ -293,7 +293,7 @@ phidget_encoder_list: name: Encoder_Z_2 channel: 1 serial: 641800 - read_data: true + read_data: false initial_position: 0 properties: serial_number: AAAA @@ -305,19 +305,19 @@ taobotics_imu_list: imu_1: name: IMU_Leg_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 - read_data: true + read_data: false properties: tag: IMU_1 imu_2: name: IMU_Thigh_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.4:1.0-port0 - read_data: true + read_data: false properties: tag: IMU_2 imu_3: name: IMU_UpperTrunk_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.2:1.0-port0 - read_data: true + read_data: false properties: tag: IMU_3 calibration_sensor: @@ -329,5 +329,5 @@ calibration_sensor: serial_number: 1906240722 max_weight: 100kg calibration_data: - m: 183526.0 - b: 6.4245 + m: 31851.0 + b: -0.3355 From e252af2a80d83f07f05c62f713e8b5f736b87e05 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 22 Jun 2023 14:53:05 +0200 Subject: [PATCH 26/53] Fixed bug not showing last row of loadcell buttons --- src/interfaceCalibration.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/interfaceCalibration.py b/src/interfaceCalibration.py index febf5da..3cfdca3 100644 --- a/src/interfaceCalibration.py +++ b/src/interfaceCalibration.py @@ -83,7 +83,7 @@ def loadGridLayout(self): self.close_button = QtWidgets.QPushButton( 'Volver al menú principal', self) self.close_button.clicked.connect(self.close) - self.grid_layout.addWidget(self.close_button, 13, 0, 1, 3) + self.grid_layout.addWidget(self.close_button, 20, 0, 1, 3) def imageWidget(self, image, size: int): image_widget = QtWidgets.QLabel(self) From b2df542687798da14762bf21a2ba12c1882b0dd0 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 22 Jun 2023 21:53:44 +0200 Subject: [PATCH 27/53] Added calibration images and merged docs images into a folder --- docs/features/calibration_test.md | 8 ++++---- docs/home.md | 4 ++-- docs/setup/sensors.md | 4 ++-- images/docs_images/calibration_gui.png | Bin 0 -> 176452 bytes .../calibration_sensor_connection.png | Bin 0 -> 106121 bytes images/docs_images/calibration_test_gui.png | Bin 0 -> 58559 bytes .../docs_images/calibration_test_results.png | Bin 0 -> 93432 bytes images/{ => docs_images}/main_gui.png | Bin 8 files changed, 8 insertions(+), 8 deletions(-) create mode 100644 images/docs_images/calibration_gui.png create mode 100644 images/docs_images/calibration_sensor_connection.png create mode 100644 images/docs_images/calibration_test_gui.png create mode 100644 images/docs_images/calibration_test_results.png rename images/{ => docs_images}/main_gui.png (100%) diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md index 7f1e45f..5cb9de8 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -5,7 +5,7 @@ Previously, you need to connect the sensors you want to calibrate in the main GUI as shown in the following picture. -*TODO image* +![Sensor connection example](../images/docs_images/calibration_sensor_connection.png) Then, click on the `Calibrar células` button on the left panel. This button will be available if at least one of the selected sensors is connected. @@ -13,7 +13,7 @@ Then, click on the `Calibrar células` button on the left panel. This button wil This menu will replace the main GUI, with the compatible sensors. The appearance of the calibration menu is presented in the following image. -*TODO image* +![Calibration GUI](../images/docs_images/calibration_gui.png) The menu loads all compatible sensor lists defined in defined in `config.yaml`, but only the connected ones will be enabled. @@ -29,7 +29,7 @@ In order to preform a calibration test, click the enabled button of the connecte A new window will pop up when clicking an enabled sensor button. The displayed GUI is as shown here. -*TODO image* +![Calibration test window](../images/docs_images/calibration_test_gui.png) The window is structured in the following sections: - A table in which all measurements will be recorded and the most relevant data (such as the mean and variance of the data sample) are displayed. @@ -49,7 +49,7 @@ Once all measurements have been taken, linear regression can be performed by cli > A minimum of two measurements must be taken for the `Calibrar` button to be available. -*TODO image* +![Calibration test window](../images/docs_images/calibration_test_results.png) This will generate a graph with the regression line obtained (in red) and the measurements taken (as blue dots). The values of the line are displayed above the graph. diff --git a/docs/home.md b/docs/home.md index 98acd00..de58350 100644 --- a/docs/home.md +++ b/docs/home.md @@ -4,7 +4,7 @@ Welcome to the `force_platform` documentation! Here you will find all the necessary information to be able to manage the program properly. -![Main GUI](../images/main_gui.png) +![Main GUI](../images/docs_images/main_gui.png) ## Documentation sections @@ -14,4 +14,4 @@ Here is an ordered list of the documentation files provided in this wiki. 2. [Config file](setup/config_file.md) 3. [Compatible sensors](setup/sensors.md) 4. [Execute a test](features/general_test.md) -5. [Calibrate sensors](calibration_test.md) \ No newline at end of file +5. 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Depending on the type Once a connection is established (or not) with the indicated sensors, the table will be updated with the status of each sensor with one of the following colours listed here: | Colour | Description | -| :--- | :--- | -| `#808080` | No connection attempted. | -| `#ff0000` | No connection could not be established. | -| `#008000` | Connection successfully established. | +| :---: | :--- | +|| No connection attempted. | +|| Connection could not be established. | +|| Connection successfully established. | If at least one sensor is connected and the requirements indicated on the control panel are met, the buttons will be enabled to start the tests. -![Main GUI Section 2 - Sensors connected](../../images/docs_images/main_gui_section2_connected.png) +![Main GUI Section 2 - Sensors connected](../../images/docs_images/main_gui_section2_connections.png) ### Control panel functions From fd33a9808b98de4711c7aa85ffbf3a34acf12b8b Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 11:57:35 +0200 Subject: [PATCH 37/53] Added test update checks method when changing file paths --- src/interface.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/interface.py b/src/interface.py index 24a640e..cd1f9a3 100644 --- a/src/interface.py +++ b/src/interface.py @@ -158,6 +158,7 @@ def selectFile(self): if file_name: self.config_path.setText(file_name) # TODO change and load config params + self.updateTestChecks() def selectFolder(self): options = QtWidgets.QFileDialog.Options() @@ -171,6 +172,7 @@ def selectFolder(self): self.updatePaths() self.log_handler.logger.info( "Changed folder path to: " + str(folder_path)) + self.updateTestChecks() def applyText(self): name = self.text_input.text().strip() @@ -181,6 +183,7 @@ def applyText(self): self.inputReader.loadGeneralSettings() self.updatePaths() self.log_handler.logger.info("Changed test name to: " + str(name)) + self.updateTestChecks() # MID LAYOUT METHODS def loadPanelLayout(self): From abb0baed430da084d0314b082768811f6c2679a5 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 13:17:36 +0200 Subject: [PATCH 38/53] Added custom config yaml support --- src/inputReader.py | 45 +++++++++++++++++++++++++++++++-------------- src/interface.py | 20 +++++++++++--------- 2 files changed, 42 insertions(+), 23 deletions(-) diff --git a/src/inputReader.py b/src/inputReader.py index b972dd0..268a557 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -32,17 +32,14 @@ def __init__(self): self.taoboticsIMUsHandler = TaoboticsIMUsHandler("BodyIMUs") # Load config - self.config_path = os.path.join( + self.default_config_path = os.path.join( os.path.dirname(__file__), '..', 'config.yaml') + self.config_path = self.default_config_path self.configLoad() - if 'custom_config_path' in self.config: - self.config_path = os.path.join(self.config['custom_config_path']) - if os.path.exists(self.config_path): - print('Loading custom file: ' + self.config_path) - self.configLoad() - else: - print('Could not find custom config file: ' + - self.config_path + '.\nDefault config has been loaded.') + if 'custom_config_path' in self.config['general_settings']: + self.configLoadCustomFile(os.path.join( + self.config['general_settings']['custom_config_path'])) + return self.configLoadParams() # Config methods @@ -62,6 +59,22 @@ def configEdit(self, keyPath, value): currentDict[keys[-1]] = value self.configSave() + def configLoadCustomFile(self, path): + if not os.path.exists(path): + self.log_handler.logger.warn( + 'Could not find custom config file: ' + + self.config_path + '.\nDefault config has been loaded.') + self.configLoadParams() + return + print('Loading custom file: ' + str(path)) + # Define first the custom config path in default config.yaml + if self.config_path is self.default_config_path: + self.configEdit('general_settings.custom_config_path', str(path)) + # Load custom config file + self.config_path = path + self.configLoad() + self.configLoadParams() + def configLoadParams(self): self.loadGeneralSettings() self.loadSensors() @@ -113,10 +126,14 @@ def loadSensors(self): def loadSensorType(self, type, config_list): if not config_list in self.config: self.log_handler.logger.warn( - "Cannot find " + config_list + "in config! Ignoring list.") + "Cannot find " + config_list + " in config! Ignoring list.") return type.clearSensors() config_list_path = self.config[config_list] + if not bool(config_list_path): + self.log_handler.logger.warn( + "No keys found in " + str(config_list) + "! Ignoring list.") + return for sensor_id in list(config_list_path.keys()): sensor_data = config_list_path[sensor_id].copy() sensor_data['id'] = sensor_id # Add ID to dict @@ -139,16 +156,16 @@ def connectSensors(self): def getTestInterval(self): return self.QT_times_dict['test_interval'] - + def getTestTareTime(self): return self.QT_times_dict['test_tare_time'] - + def getCalibrationInterval(self): return self.QT_times_dict['calibration_interval'] - + def getCalibrationTime(self): return self.QT_times_dict['calibration_time'] - + def getPlatform1SensorStatus(self): return self.phidgetP1LoadCellsHandler.getSensorListDict() diff --git a/src/interface.py b/src/interface.py index cd1f9a3..cd5f6a8 100644 --- a/src/interface.py +++ b/src/interface.py @@ -153,12 +153,12 @@ def updatePaths(self): def selectFile(self): options = QtWidgets.QFileDialog.Options() options |= QtWidgets.QFileDialog.DontUseNativeDialog - file_name, _ = QtWidgets.QFileDialog.getOpenFileName( + config_file_path, _ = QtWidgets.QFileDialog.getOpenFileName( self, 'Select file', '', 'Archivo yaml (*.yaml)', options=options) - if file_name: - self.config_path.setText(file_name) - # TODO change and load config params - self.updateTestChecks() + if config_file_path: + self.config_path.setText(config_file_path) + self.inputReader.configLoadCustomFile(config_file_path) + self.updateSensorPanel() def selectFolder(self): options = QtWidgets.QFileDialog.Options() @@ -232,7 +232,7 @@ def loadSensorLayout(self): update_sensors_btn = QtWidgets.QPushButton( 'Connect sensors', self) update_sensors_btn.setMaximumWidth(200) - update_sensors_btn.clicked.connect(self.updateSensors) + update_sensors_btn.clicked.connect(self.connectSensors) hbox_title_layout.addWidget(update_sensors_btn) hbox_title_layout.addWidget(title) @@ -268,9 +268,7 @@ def loadSensorLayout(self): vbox_layout.addLayout(grid_layout) self.hbox_mid.addLayout(vbox_layout) - def updateSensors(self): - # Connect sensors - self.inputReader.connectSensors() + def updateSensorPanel(self): # Clear grid layouts and load again sensor_layout = self.hbox_mid.itemAt(2).layout() if sensor_layout is not None: @@ -341,6 +339,10 @@ def handleSensorCheckbox(self, state): self.inputReader.configEdit( sender.objectName() + '.read_data', state == 2) + def connectSensors(self): + self.inputReader.connectSensors() + self.updateSensorPanel() + def updateTestChecks(self): test_status_text = [ ('Config loaded', '(!!) Pending config upload'), From 1a5c826ca62fe3f661fb4104e0c9ba763eae3f20 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 14:53:40 +0200 Subject: [PATCH 39/53] Fixed results plotters. --- src/inputReader.py | 18 ++++++++++-------- src/interface.py | 4 ++-- src/utils.py | 4 +++- 3 files changed, 15 insertions(+), 11 deletions(-) diff --git a/src/inputReader.py b/src/inputReader.py index 268a557..1a7e608 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -36,7 +36,7 @@ def __init__(self): os.path.dirname(__file__), '..', 'config.yaml') self.config_path = self.default_config_path self.configLoad() - if 'custom_config_path' in self.config['general_settings']: + if self.config['general_settings']['custom_config_path']: self.configLoadCustomFile(os.path.join( self.config['general_settings']['custom_config_path'])) return @@ -228,13 +228,15 @@ def readerStop(self): self.test_folder, self.test_name + '.csv')) self.sensor_dataframe_raw.exportToCSV(os.path.join( self.test_folder, self.test_name + '_RAW' + '.csv')) - # WIP Plot results - plot_columns = [0, 1, 2, 3, 4] - plot_dataframe = self.sensor_dataframe.getDataFrame( - ).iloc[:, plot_columns].copy() - print(plot_dataframe) - preview = DataFramePlotter(plot_dataframe) - preview.plot_line('time', plot_dataframe.columns[1:]) + # Plot desired sensor values if enabled in config + if self.config['general_settings']['test_results']['generate_plot']: + sensor_headers = self.config['general_settings']['test_results']['column_headers'] + plot_columns = [0] + plot_columns.extend(sensor_headers) + plot_dataframe = self.sensor_dataframe.getDataFrame( + ).iloc[:, plot_columns].copy() + preview = DataFramePlotter(plot_dataframe) + preview.plot_line('time', plot_dataframe.columns[1:]) # Return fixed format of: # - Relative COP of Platform 1 diff --git a/src/interface.py b/src/interface.py index cd5f6a8..7953b89 100644 --- a/src/interface.py +++ b/src/interface.py @@ -431,9 +431,9 @@ def generatePlots(self): x_length = 600 # mm y_length = 400 # mm rect1 = patches.Rectangle( - (0, 0), x_length, y_length, edgecolor='blue', facecolor='none') + (-x_length/2, -y_length/2), x_length, y_length, edgecolor='blue', facecolor='none') rect2 = patches.Rectangle( - (0, 0), x_length, y_length, edgecolor='blue', facecolor='none') + (-x_length/2, -y_length/2), x_length, y_length, edgecolor='blue', facecolor='none') # Generate empty plots self.fig1, self.ax1 = plt.subplots() diff --git a/src/utils.py b/src/utils.py index 2a681d4..6cdeceb 100644 --- a/src/utils.py +++ b/src/utils.py @@ -63,7 +63,9 @@ def __init__(self, data_frame: pd.DataFrame): self.df = pd.concat([self.df, data_frame.iloc[:, 1:]], axis=1) def plot_line(self, x_col, y_cols): - fig, ax = plt.subplots() + plt.close('all') + fig = plt.figure() + ax = fig.add_subplot(111) for y_col in y_cols: ax.plot(self.df[x_col], self.df[y_col], label=y_col) ax.legend() From 8ac20fe1f9b54a19fafeeea2551d5afffbd8efe8 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 14:55:51 +0200 Subject: [PATCH 40/53] Added custom_config_path key in general settings --- config.yaml | 48 +++++++++++++++++++++++++++--------------------- 1 file changed, 27 insertions(+), 21 deletions(-) diff --git a/config.yaml b/config.yaml index fcf78a3..14f3ee8 100644 --- a/config.yaml +++ b/config.yaml @@ -1,4 +1,5 @@ general_settings: + custom_config_path: null calibration_times: data_interval_ms: 10 recording_time: 3000 @@ -7,15 +8,20 @@ general_settings: tare_time_ms: 3000 test_file_path: folder: /home/aaroncite4/Documents/Github/force_platform/pruebas - name: EnsayoPesos3 + name: Test test_results: - generate_plots: false + generate_plot: true + column_headers: + - 1 + - 2 + - 3 + - 4 p1_phidget_loadcell_list: load_cell_1: name: P1_LoadCell_Z_1 channel: 0 serial: 583477 - read_data: false + read_data: true properties: serial_number: Y2131167 max_weight: 150kg @@ -26,7 +32,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Z_2 channel: 1 serial: 583477 - read_data: false + read_data: true properties: serial_number: Y2131169 max_weight: 150kg @@ -37,7 +43,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Z_3 channel: 2 serial: 583477 - read_data: false + read_data: true properties: serial_number: W020822 max_weight: 150kg @@ -48,7 +54,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Z_4 channel: 3 serial: 583477 - read_data: false + read_data: true properties: serial_number: Y2131168 max_weight: 150kg @@ -59,7 +65,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_X_1 channel: 0 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805051 max_weight: 110kg @@ -70,7 +76,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_X_2 channel: 1 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805067 max_weight: 110kg @@ -81,7 +87,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_X_3 channel: 2 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805061 max_weight: 110kg @@ -92,7 +98,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_X_4 channel: 3 serial: 583467 - read_data: false + read_data: true properties: serial_number: TT805082 max_weight: 110kg @@ -103,7 +109,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Y_1 channel: 0 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805088 max_weight: 110kg @@ -114,7 +120,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Y_2 channel: 1 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805064 max_weight: 110kg @@ -125,7 +131,7 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Y_3 channel: 2 serial: 588715 - read_data: false + read_data: true properties: serial_number: TC755992 max_weight: 110kg @@ -136,19 +142,19 @@ p1_phidget_loadcell_list: name: P1_LoadCell_Y_4 channel: 3 serial: 588715 - read_data: false + read_data: true properties: serial_number: TT805053 max_weight: 110kg calibration_data: - m: 109062.2322580 + m: 109062.232258 b: -0.9654276058173821 p2_phidget_loadcell_list: load_cell_1: name: P2_LoadCell_Z_1 channel: 0 serial: 588569 - read_data: true + read_data: false properties: serial_number: W019737 max_weight: 150kg @@ -159,7 +165,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_2 channel: 1 serial: 588569 - read_data: true + read_data: false properties: serial_number: Z1162733 max_weight: 150kg @@ -170,7 +176,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_3 channel: 2 serial: 588569 - read_data: true + read_data: false properties: serial_number: Z1162736 max_weight: 150kg @@ -181,7 +187,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_4 channel: 3 serial: 588569 - read_data: true + read_data: false properties: serial_number: Z1162741 max_weight: 150kg @@ -281,7 +287,7 @@ phidget_encoder_list: name: Encoder_Z_1 channel: 0 serial: 641800 - read_data: false + read_data: true initial_position: 0 properties: serial_number: AAAA @@ -293,7 +299,7 @@ phidget_encoder_list: name: Encoder_Z_2 channel: 1 serial: 641800 - read_data: false + read_data: true initial_position: 0 properties: serial_number: AAAA From 7819653713bb527a2bdc8d5662ed321e63fe6b02 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 17:42:05 +0200 Subject: [PATCH 41/53] Update docs images with english GUIs --- docs/features/calibration_test.md | 4 +++- docs/features/general_test.md | 17 ++++++++++------- images/docs_images/calibration_gui.png | Bin 176452 -> 182179 bytes .../calibration_sensor_connection.png | Bin 106121 -> 0 bytes images/docs_images/calibration_test_gui.png | Bin 58559 -> 60757 bytes images/docs_images/main_gui.png | Bin 154027 -> 148865 bytes images/docs_images/main_gui_custom_config.png | Bin 0 -> 80354 bytes images/docs_images/main_gui_default.png | Bin 0 -> 146182 bytes images/docs_images/main_gui_section1.png | Bin 30652 -> 30384 bytes images/docs_images/main_gui_section2.png | Bin 77929 -> 68533 bytes .../main_gui_section2_connections.png | Bin 76759 -> 71207 bytes images/docs_images/main_gui_section3.png | Bin 42500 -> 47278 bytes 12 files changed, 13 insertions(+), 8 deletions(-) delete mode 100644 images/docs_images/calibration_sensor_connection.png create mode 100644 images/docs_images/main_gui_custom_config.png create mode 100644 images/docs_images/main_gui_default.png diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md index d64342e..6b28db3 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -4,7 +4,9 @@ Previously, you need to connect the sensors you want to calibrate in the main GUI as shown in the following picture. -![Sensor connection example](../../images/docs_images/calibration_sensor_connection.png) +![Sensor connection example](../../images/docs_images/main_gui_section2_connections.png) + +> Need more information about how to connect sensors? Check the [sensor connection](general_test.md#sensor-connection) section of the general test procedure. Then, click on the Calibrate sensors button on the left panel. This button will be available if at least one of the selected sensors is connected. diff --git a/docs/features/general_test.md b/docs/features/general_test.md index ce939f1..c70ec31 100644 --- a/docs/features/general_test.md +++ b/docs/features/general_test.md @@ -7,7 +7,7 @@ The main objective of the program is to record data from the connected sensors i When running the `main.py` file of the program, a window like this will open: -![Main GUI](../../images/docs_images/main_gui.png) +![Main GUI](../../images/docs_images/main_gui_default.png) The interface is organised in three main sections which will be detailed below: - File management. @@ -21,13 +21,16 @@ The interface is organised in three main sections which will be detailed below: In this section you can configure the following options listed below. ### Load a custom configuration file -**Not yet implemented** It is possible to load another `.yaml` file than the default `config.yaml` file. This is useful when you want to run tests that have different sensor and platform layouts and other calibration values. If you want to load another configuration file, click on the Select config file button and select the custom file with extension `.yaml`. -Once selected, if it is in the correct format, the window will be updated with the new sensor information. The path to the custom configuration will also be saved in the default configuration file (`config.yaml`) to be loaded automatically each time the program is launched. +Once selected, if it is in the correct format, the window will be updated with the new sensor information. + +![Main GUI Section 1](../../images/docs_images/main_gui_custom_config.png) + +The path to the custom configuration will also be saved in the default configuration file (`config.yaml`) to be loaded automatically each time the program is launched. > This can be cancelled by deleting the custom configuration path in the default `config.yaml` file. @@ -53,11 +56,11 @@ Once marked, press the Connect sensors button. Depending on the type Once a connection is established (or not) with the indicated sensors, the table will be updated with the status of each sensor with one of the following colours listed here: -| Colour | Description | +| Color | Description | | :---: | :--- | -|| No connection attempted. | -|| Connection could not be established. | -|| Connection successfully established. | +|| No connection attempted. | +|| Connection could not be established. | +|| Connection successfully established. | If at least one sensor is connected and the requirements indicated on the control panel are met, the buttons will be enabled to start the tests. diff --git a/images/docs_images/calibration_gui.png b/images/docs_images/calibration_gui.png index 635fd5ff72bdf25ecb54376e64bbb6e34f94658d..70258f64bc042358cf6148d7dcfc7b3a93c99dbf 100644 GIT binary patch literal 182179 zcmeFYWmuG5+Xf0KDxe@zf=DPJ4bq(=9U|S*-8D2wNOzZXGjx~IjdUa3Idtwd&+~ro zjz9a)-v2%hJ%$jOYtg0#pP9gcssspX3n`o-!aHJkogf1iZ2# 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zaq`_5(6StJjh-w-E*M%TwWiUS zP;lpBw=>ce>sV|0(yUy8Q-!T;BAH$J=WS^PU0o+)(r`|ItclF~2e=KgQAtWi*Jh%^ zwPW@Hx{3fzJxkz)vCorj9I~3CCXZ5VDW=}-!99VT(=`#Fh-vtws{3^3!f0GU2lin> zlY|e*EYP7KKv*OIEuj-Dy7v&sHr7ZKfyj$WNFh)jHUMmEX&EmWHfy=?@j~TXhXd1& zora{D0sa6J>~x?mFh3!)FHHi02=)S^fQY_9U(H!?=!c<4$7(db`MmCh_JOOtTTiRs znR~uFZupz@WQyKCvQRj ztNQpV1Yg&Vfd7aq&H-%#C77_dI15Ul+}zwF+noa9;kL^hN;_|XRf(vhorAf;=Bb*N zFegX#6i;|uL2XV&Rm|v{$C%z9)Y#pJ7gp|W9O>#$+<%9_P zS)T_~vs!>M5&}$*v|wWd9(-_sNL>F*|Jd+nZIPuI((4>MVXpXOg# z>-!#+G9guRI#Vai*Wa#Bxqne;e#;yFa_83nG*_X4s(ROAC2vt0Di_--@1&9vs+TTU z+po*0*#UFa>4i|gGDrR+x3rzp2N5L?s!91hd(5L;+5&?6Q}G-{)XOOMJNO@WU5O#j zrzHS4VvRV*gEGB*zwZki67?*VPN)C>3zEO Date: Tue, 27 Jun 2023 10:27:20 +0200 Subject: [PATCH 44/53] Update with sensor information --- docs/setup/sensors.md | 28 +++++++++++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/docs/setup/sensors.md b/docs/setup/sensors.md index b085304..db7543b 100644 --- a/docs/setup/sensors.md +++ b/docs/setup/sensors.md @@ -1,7 +1,33 @@ [:house: `Back to Home`](../home.md) # Compatible sensors -**TODO** + +In this section you will find a list of all the sensors compatible with the software and used APIs. + +## Configuration file sensor lists + +For more information on the structure of the configuration file, check the [config file](config_file.md) page. + +### Platform and calibration sensors + +- All sensors that are compatible with the [PhidgetBridge 4-input](https://www.phidgets.com/?tier=3&catid=98&pcid=78&prodid=1027). It has been tested with the following sensors: + - [Zemic L6P Planar Load Cell](https://www.zemiceurope.com/es/categories/celulas-de-carga/l6p.html) (main sensors). + - [Phidgets S-Type Load Cell](https://www.phidgets.com/?tier=3&catid=9&pcid=7&prodid=229) + - [Phidgets Single Point Load Cell](https://www.phidgets.com/?tier=3&catid=9&pcid=7&prodid=226) + +### Encoder sensors + +- All sensors that are compatible with the [PhidgetEncoder HighSpeed 4-input](https://www.phidgets.com/?tier=3&catid=4&pcid=2&prodid=1199). It has been tested with the following sensors: + - [Draw Wire Encoder](https://www.phidgets.com/?prodid=1001) (main sensors). + +### IMU sensors + +- The current version only supports [Taobotics IMUs](https://www.taobotics.com/). + +## Sensor APIs + +- [Phidegt22 API](https://www.phidgets.com/?view=api) +- [Taobotics IMU (MRPT docs)](https://docs.mrpt.org/reference/latest/class_mrpt_hwdrivers_CTaoboticsIMU.html#doxid-classmrpt-1-1hwdrivers-1-1-c-taobotics-i-m-u) --- From c7cd7e9a4afb6ecd7f7f59a245bc5d6da773f55c Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 28 Jun 2023 19:01:12 +0200 Subject: [PATCH 45/53] Added fixed plot size in main GUI --- src/interface.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/interface.py b/src/interface.py index 7953b89..6e1c33d 100644 --- a/src/interface.py +++ b/src/interface.py @@ -435,8 +435,12 @@ def generatePlots(self): rect2 = patches.Rectangle( (-x_length/2, -y_length/2), x_length, y_length, edgecolor='blue', facecolor='none') + # Figure size + x_size = 4 + y_size = 4 + # Generate empty plots - self.fig1, self.ax1 = plt.subplots() + self.fig1, self.ax1 = plt.subplots(figsize=(x_size, y_size)) self.canvas1 = FigureCanvas(self.fig1) self.ax1.set_xlabel('Medio-Lateral Motion (mm)') self.ax1.set_ylabel('Anterior-Posterior Motion (mm)') @@ -445,7 +449,7 @@ def generatePlots(self): self.ax1.grid(True) self.ax1.add_patch(rect1) - self.fig2, self.ax2 = plt.subplots() + self.fig2, self.ax2 = plt.subplots(figsize=(x_size, y_size)) self.canvas2 = FigureCanvas(self.fig2) toolbar2 = NavigationToolbar(self.canvas2, self) self.ax2.set_xlabel('Medio-Lateral Motion (mm)') @@ -454,7 +458,7 @@ def generatePlots(self): self.ax2.grid(True) self.ax2.add_patch(rect2) - self.fig3, self.ax3 = plt.subplots() + self.fig3, self.ax3 = plt.subplots(figsize=(x_size, y_size)) self.canvas3 = FigureCanvas(self.fig3) toolbar3 = NavigationToolbar(self.canvas3, self) self.ax3.set_xlabel('Time (s)') From fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 28 Jun 2023 19:02:59 +0200 Subject: [PATCH 46/53] Set config sensors read_values true by default --- config.yaml | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/config.yaml b/config.yaml index 14f3ee8..2da806f 100644 --- a/config.yaml +++ b/config.yaml @@ -154,7 +154,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_1 channel: 0 serial: 588569 - read_data: false + read_data: true properties: serial_number: W019737 max_weight: 150kg @@ -165,7 +165,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_2 channel: 1 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162733 max_weight: 150kg @@ -176,7 +176,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_3 channel: 2 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162736 max_weight: 150kg @@ -187,7 +187,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Z_4 channel: 3 serial: 588569 - read_data: false + read_data: true properties: serial_number: Z1162741 max_weight: 150kg @@ -198,7 +198,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_1 channel: 0 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805059 max_weight: 110kg @@ -209,7 +209,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_2 channel: 1 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805079 max_weight: 110kg @@ -220,7 +220,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_3 channel: 2 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805063 max_weight: 110kg @@ -231,7 +231,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_X_4 channel: 3 serial: 588718 - read_data: false + read_data: true properties: serial_number: TT805056 max_weight: 110kg @@ -242,7 +242,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_1 channel: 0 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805080 max_weight: 110kg @@ -253,7 +253,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_2 channel: 1 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805058 max_weight: 110kg @@ -264,7 +264,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_3 channel: 2 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805068 max_weight: 110kg @@ -275,7 +275,7 @@ p2_phidget_loadcell_list: name: P2_LoadCell_Y_4 channel: 3 serial: 582535 - read_data: false + read_data: true properties: serial_number: TT805066 max_weight: 110kg @@ -311,19 +311,19 @@ taobotics_imu_list: imu_1: name: IMU_Leg_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 - read_data: false + read_data: true properties: tag: IMU_1 imu_2: name: IMU_Thigh_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.4:1.0-port0 - read_data: false + read_data: true properties: tag: IMU_2 imu_3: name: IMU_UpperTrunk_Right serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.2:1.0-port0 - read_data: false + read_data: true properties: tag: IMU_3 calibration_sensor: From b693a54f14bd22deed760bb277c1e276d8edb221 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Wed, 28 Jun 2023 19:15:59 +0200 Subject: [PATCH 47/53] Update config permalinks and added new config keys information --- docs/setup/config_file.md | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index 59dbbc8..f0b4ee8 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -12,24 +12,26 @@ Config main content: ## General settings -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L1-L12 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L1-L18 Information of all the keys involved in this config section: | Key | Type | Description | | :--- | :---: | :--- | +| `custom_config_path` | STRING | Custom config to load instead of this default config. Set to `null` if the default config is needed. | | `calibration_times.data_interval_ms` | INT | Data recording frequency (in ms). | | `calibration_times.recording_time` | INT | Data recording duration (in ms). | | `test_times.data_interval_ms` | INT | Data recording frequency (in ms). | | `test_times.tare_time_ms` | INT | Duration of data recording to tare (in ms). | | `test_file_path.folder` | STRING | Path to desired folder where the `csv` files will be saved. | | `test_file_path.name` | STRING | Name of the generated `csv` files. | -| `test_results.generate_plots` | BOOL | Work in progress. | +| `test_results.generate_plots` | BOOL | Generate a plot with the recorded values when the test ends. | +| `test_results.column_headers` | LIST | A list of integers indicating the header positions that will be plotted. | ## Platform 1 loadcell list Declare the amount of Phidget loadcells in the first platform. -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L13-L24 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L19-L30 Information of all the keys involved in this config section: @@ -47,14 +49,14 @@ Information of all the keys involved in this config section: ## Platform 2 loadcell list Declare the amount of Phidget loadcells in the second platform. -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L146-L157 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L152-L163 The config section keys are the same as in [Platform 1 loadcell list](#platform-1-loadcell-list). ## Encoder list Declare the amount of Phidget encoders. -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L279-L291 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L285-L297 Information of all the keys involved in this config section: @@ -73,7 +75,7 @@ Information of all the keys involved in this config section: ## IMU list Declare the amount of Taobotics IMUs. -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L304-L310 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L310-L316 Information of all the keys involved in this config section: @@ -88,7 +90,7 @@ Information of all the keys involved in this config section: ## Calibration sensor Define here a Phidget loadcell that will be used for reference data when calibrating, instead of manual inputs. -https://github.com/AaronPB/force_platform/blob/88ecc364dc7c97f09efae3091a1ce522aba9c423/config.yaml#L323-L333 +https://github.com/AaronPB/force_platform/blob/fdb52dbe9a6d9100263b5b0a4648fc77fb0aabaf/config.yaml#L329-L339 The config section keys are similar as in [Platform 1 loadcell list](#platform-1-loadcell-list). From 0c8cd9ee175a2ae3357cefbb1201e7ac33d078b8 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 29 Jun 2023 14:43:07 +0200 Subject: [PATCH 48/53] Added flexible figure plots in case some data is missing. --- matlab/csv_data_plotter.m | 336 +++++++++++++++++++++++++------------- 1 file changed, 225 insertions(+), 111 deletions(-) diff --git a/matlab/csv_data_plotter.m b/matlab/csv_data_plotter.m index 907b852..a292099 100644 --- a/matlab/csv_data_plotter.m +++ b/matlab/csv_data_plotter.m @@ -9,157 +9,271 @@ % - 3 subfigures for IMUs angular velocity data %% IMPORT DATA -% Change path to desired csv file -data = readmatrix('../pruebas/EnsayoTODO.csv', 'Delimiter', ','); - -% Data -timestamps = data(:, 1); -loadCell_Z1 = data(:, 2:5); -loadCell_X1 = data(:, 6:9); -loadCell_Y1 = data(:, 10:13); -loadCell_Z2 = data(:, 14:17); -loadCell_X2 = data(:, 18:21); -loadCell_Y2 = data(:, 22:25); -encoders = data(:, 26:27); -imu_1_q = data(:, 28:31); % x,y,z,w -imu_1_w = data(:, 32:34); % x,y,z -imu_2_q = data(:, 35:38); % x,y,z,w -imu_2_w = data(:, 39:41); % x,y,z -imu_3_q = data(:, 42:45); % x,y,z,w -imu_3_w = data(:, 46:48); % x,y,z +data = readtable('../pruebas/TestInclinado.csv', 'Delimiter', ','); % Transform timestamp to seconds +timestamps = data.timestamp; timeIncrements = timestamps/1000 - timestamps(1)/1000; %% LOADCELLS PLATFORM 1 figure (1); % P1_LoadCell_Z -subplot(3, 1, 1); -plot(timeIncrements, loadCell_Z1, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P1\_LoadCell\_Z'); -legend('P1\_LoadCell\_Z\_1', 'P1\_LoadCell\_Z\_2', 'P1\_LoadCell\_Z\_3', 'P1\_LoadCell\_Z\_4'); +if ismember('P1_LoadCell_Z_1', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Z_2', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Z_3', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Z_4', data.Properties.VariableNames) + + loadCell_Z1 = [data.P1_LoadCell_Z_1, data.P1_LoadCell_Z_2, data.P1_LoadCell_Z_3, data.P1_LoadCell_Z_4]; + resultant_Z1 = data.P1_LoadCell_Z_1 + data.P1_LoadCell_Z_2 + data.P1_LoadCell_Z_3 + data.P1_LoadCell_Z_4; + + subplot(3, 1, 1); + plot(timeIncrements, [loadCell_Z1,resultant_Z1], 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P1\_LoadCell\_Z'); + legend('P1\_LoadCell\_Z\_1', 'P1\_LoadCell\_Z\_2', 'P1\_LoadCell\_Z\_3', 'P1\_LoadCell\_Z\_4', 'RESULTANTE'); +else + disp('Los datos de Plataforma 1 - Eje Z no se encuentran disponibles. Ignorando figura.'); +end % P1_LoadCell_X -subplot(3, 1, 2); -plot(timeIncrements, loadCell_X1, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P1\_LoadCell\_X'); -legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4'); +if ismember('P1_LoadCell_X_1', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_X_2', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_X_3', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_X_4', data.Properties.VariableNames) + + loadCell_X1 = [data.P1_LoadCell_X_1, data.P1_LoadCell_X_2, data.P1_LoadCell_X_3, data.P1_LoadCell_X_4]; + + subplot(3, 1, 2); + plot(timeIncrements, loadCell_X1, 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P1\_LoadCell\_X'); + legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4'); + +else + disp('Los datos de Plataforma 1 - Eje X no se encuentran disponibles. Ignorando figura.'); +end % P1_LoadCell_Y -subplot(3, 1, 3); -plot(timeIncrements, loadCell_Y1, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P1\_LoadCell\_Y'); -legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4'); +if ismember('P1_LoadCell_Y_1', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Y_2', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Y_3', data.Properties.VariableNames) && ... + ismember('P1_LoadCell_Y_4', data.Properties.VariableNames) + + loadCell_Y1 = [data.P1_LoadCell_Y_1, data.P1_LoadCell_Y_2, data.P1_LoadCell_Y_3, data.P1_LoadCell_Y_4]; + + subplot(3, 1, 3); + plot(timeIncrements, loadCell_Y1, 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P1\_LoadCell\_Y'); + legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4'); +else + disp('Los datos de Plataforma 1 - Eje Y no se encuentran disponibles. Ignorando figura.'); +end %% LOADCELLS PLATFORM 2 figure (2); % P2_LoadCell_Z -subplot(3, 1, 1); -plot(timeIncrements, loadCell_Z2, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P2\_LoadCell\_Z'); -legend('P2\_LoadCell\_Z\_1', 'P2\_LoadCell\_Z\_2', 'P2\_LoadCell\_Z\_3', 'P2\_LoadCell\_Z\_4'); +if ismember('P2_LoadCell_Z_1', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Z_2', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Z_3', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Z_4', data.Properties.VariableNames) + + loadCell_Z2 = [data.P2_LoadCell_Z_1, data.P2_LoadCell_Z_2, data.P2_LoadCell_Z_3, data.P2_LoadCell_Z_4]; + resultant_Z2 = data.P2_LoadCell_Z_1 + data.P2_LoadCell_Z_2 + data.P2_LoadCell_Z_3 + data.P2_LoadCell_Z_4; + + subplot(3, 1, 1); + plot(timeIncrements, [loadCell_Z2,resultant_Z2], 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P2\_LoadCell\_Z'); + legend('P2\_LoadCell\_Z\_1', 'P2\_LoadCell\_Z\_2', 'P2\_LoadCell\_Z\_3', 'P2\_LoadCell\_Z\_4','RESULTANTE'); +else + disp('Los datos de Plataforma 2 - Eje Z no se encuentran disponibles. Ignorando figura.'); +end % P2_LoadCell_X -subplot(3, 1, 2); -plot(timeIncrements, loadCell_X2, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P2\_LoadCell\_X'); -legend('P2\_LoadCell\_X\_1', 'P2\_LoadCell\_X\_2', 'P2\_LoadCell\_X\_3', 'P2\_LoadCell\_X\_4'); +if ismember('P2_LoadCell_X_1', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_X_2', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_X_3', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_X_4', data.Properties.VariableNames) + + loadCell_X2 = [-data.P2_LoadCell_X_1, data.P2_LoadCell_X_2, data.P2_LoadCell_X_3, -data.P2_LoadCell_X_4]; + resultant_X2 = -data.P2_LoadCell_X_1 + data.P2_LoadCell_X_2 + data.P2_LoadCell_X_3 - data.P2_LoadCell_X_4; + + subplot(3, 1, 2); + plot(timeIncrements, [loadCell_X2,resultant_X2], 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P2\_LoadCell\_X'); + legend('P2\_LoadCell\_X\_1', 'P2\_LoadCell\_X\_2', 'P2\_LoadCell\_X\_3', 'P2\_LoadCell\_X\_4','RESULTANTE'); +else + disp('Los datos de Plataforma 2 - Eje X no se encuentran disponibles. Ignorando figura.'); +end % P2_LoadCell_Y -subplot(3, 1, 3); -plot(timeIncrements, loadCell_Y2, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Force (N)'); -title('P2\_LoadCell\_Y'); -legend('P2\_LoadCell\_Y\_1', 'P2\_LoadCell\_Y\_2', 'P2\_LoadCell\_Y\_3', 'P2\_LoadCell\_Y\_4'); +if ismember('P2_LoadCell_Y_1', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Y_2', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Y_3', data.Properties.VariableNames) && ... + ismember('P2_LoadCell_Y_4', data.Properties.VariableNames) + + loadCell_Y2 = [-data.P2_LoadCell_Y_1, -data.P2_LoadCell_Y_2, data.P2_LoadCell_Y_3, data.P2_LoadCell_Y_4]; + resultant_Y2 = -data.P2_LoadCell_Y_1 - data.P2_LoadCell_Y_2 + data.P2_LoadCell_Y_3 + data.P2_LoadCell_Y_4; + + subplot(3, 1, 3); + plot(timeIncrements, [loadCell_Y2,resultant_Y2], 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Force (N)'); + title('P2\_LoadCell\_Y'); + legend('P2\_LoadCell\_Y\_1', 'P2\_LoadCell\_Y\_2', 'P2\_LoadCell\_Y\_3', 'P2\_LoadCell\_Y\_4','RESULTANTE'); + +else + disp('Los datos de Plataforma 2 - Eje Y no se encuentran disponibles. Ignorando figura.'); +end %% ENCODERS figure (3); +if ismember('Encoder_Z_1', data.Properties.VariableNames) && ... + ismember('Encoder_Z_2', data.Properties.VariableNames) -plot(timeIncrements, encoders, 'LineWidth', 1.5); -grid on; -xlabel('Time (s)'); -ylabel('Distance (mm)'); -title('Encoders'); -legend('Encoder\_Z1', 'Encoder\_Z2'); + encoders = [data.Encoder_Z_1, data.Encoder_Z_2]; -%% IMUS ANGLES -% Transform quaternions values to Euler angles -imu_1_eul = quat2eul(imu_1_q, 'XYZ'); -imu_2_eul = quat2eul(imu_2_q, 'XYZ'); -imu_3_eul = quat2eul(imu_3_q, 'XYZ'); -% To degrees -imu_1_eul_deg = rad2deg(imu_1_eul); -imu_2_eul_deg = rad2deg(imu_2_eul); -imu_3_eul_deg = rad2deg(imu_3_eul); + plot(timeIncrements, encoders, 'LineWidth', 1.5); + grid on; + xlabel('Time (s)'); + ylabel('Distance (mm)'); + title('Encoders'); + legend('Encoder\_Z1', 'Encoder\_Z2'); +else + disp('Faltan uno o ambos Encoders 1 y 2. Ignorando figura.'); +end +%% IMUS ANGLES figure (4); % IMU 1 -subplot(3, 1, 1); -plot(timeIncrements, imu_1_eul_deg, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angle (º)'); -title('IMU\_1'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +if ismember('IMU_Leg_Right_qw', data.Properties.VariableNames) && ... + ismember('IMU_Leg_Right_qx', data.Properties.VariableNames) && ... + ismember('IMU_Leg_Right_qy', data.Properties.VariableNames) && ... + ismember('IMU_Leg_Right_qz', data.Properties.VariableNames) + + imu_1_q = [data.IMU_Leg_Right_qw, data.IMU_Leg_Right_qx, data.IMU_Leg_Right_qy, data.IMU_Leg_Right_qz]; + + imu_1_eul = quat2eul(imu_1_q, 'XYZ'); + imu_1_eul_deg = rad2deg(imu_1_eul); + + subplot(3, 1, 1); + plot(timeIncrements, imu_1_eul_deg, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angle (º)'); + title('IMU\_1'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 1 - Quaterniones no se encuentran disponibles. Ignorando figura.'); +end % IMU 2 -subplot(3, 1, 2); -plot(timeIncrements, imu_2_eul_deg, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angle (º)'); -title('IMU\_2'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +if ismember('IMU_Thigh_Right_qw', data.Properties.VariableNames) && ... + ismember('IMU_Thigh_Right_qx', data.Properties.VariableNames) && ... + ismember('IMU_Thigh_Right_qy', data.Properties.VariableNames) && ... + ismember('IMU_Thigh_Right_qz', data.Properties.VariableNames) + + imu_2_q = [data.IMU_Thigh_Right_qw, data.IMU_Thigh_Right_qx, data.IMU_Thigh_Right_qy, data.IMU_Thigh_Right_qz]; + + imu_2_eul = quat2eul(imu_2_q, 'XYZ'); + imu_2_eul_deg = rad2deg(imu_2_eul); + + subplot(3, 1, 2); + plot(timeIncrements, imu_2_eul_deg, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angle (º)'); + title('IMU\_2'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 2 - Quaterniones no se encuentran disponibles. Ignorando figura.'); +end % IMU 3 -subplot(3, 1, 3); -plot(timeIncrements, imu_3_eul_deg, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angle (º)'); -title('IMU\_3'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +if ismember('IMU_UpperTrunk_Right_qw', data.Properties.VariableNames) && ... + ismember('IMU_UpperTrunk_Right_qx', data.Properties.VariableNames) && ... + ismember('IMU_UpperTrunk_Right_qy', data.Properties.VariableNames) && ... + ismember('IMU_UpperTrunk_Right_qz', data.Properties.VariableNames) + + imu_3_q = [data.IMU_UpperTrunk_Right_qw, data.IMU_UpperTrunk_Right_qx, data.IMU_UpperTrunk_Right_qy, data.IMU_UpperTrunk_Right_qz]; + + imu_3_eul = quat2eul(imu_3_q, 'XYZ'); + imu_3_eul_deg = rad2deg(imu_3_eul); + + subplot(3, 1, 3); + plot(timeIncrements, imu_3_eul_deg, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angle (º)'); + title('IMU\_3'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 3 - Quaterniones no se encuentran disponibles. Ignorando figura.'); +end %% IMUS ANGULAR VELOCITY figure (5); % IMU 1 -subplot(3, 1, 1); -plot(timeIncrements, imu_1_w, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angular velocity (rad/s)'); -title('IMU\_1'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +if ismember('IMU_Leg_Right_wx', data.Properties.VariableNames) && ... + ismember('IMU_Leg_Right_wy', data.Properties.VariableNames) && ... + ismember('IMU_Leg_Right_wz', data.Properties.VariableNames) + + imu_1_w = [data.IMU_Leg_Right_wx, data.IMU_Leg_Right_wy, data.IMU_Leg_Right_wz]; + + subplot(3, 1, 1); + plot(timeIncrements, imu_1_w, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angular velocity (rad/s)'); + title('IMU\_1'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 1 - Velocidades angulares no se encuentran disponibles. Ignorando figura.'); +end % IMU 2 -subplot(3, 1, 2); -plot(timeIncrements, imu_2_w, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angular velocity (rad/s)'); -title('IMU\_2'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +if ismember('IMU_Thigh_Right_wx', data.Properties.VariableNames) && ... + ismember('IMU_Thigh_Right_wy', data.Properties.VariableNames) && ... + ismember('IMU_Thigh_Right_wz', data.Properties.VariableNames) + + imu_2_w = [data.IMU_Thigh_Right_wx, data.IMU_Thigh_Right_wy, data.IMU_Thigh_Right_wz]; + + subplot(3, 1, 2); + plot(timeIncrements, imu_2_w, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angular velocity (rad/s)'); + title('IMU\_2'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 2 - Velocidades angulares no se encuentran disponibles. Ignorando figura.'); +end % IMU 3 -subplot(3, 1, 3); -plot(timeIncrements, imu_3_w, 'LineWidth', 1.5); -xlabel('Time (s)'); -ylabel('Angular velocity (rad/s)'); -title('IMU\_3'); -legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); \ No newline at end of file +if ismember('IMU_UpperTrunk_Right_wx', data.Properties.VariableNames) && ... + ismember('IMU_UpperTrunk_Right_wy', data.Properties.VariableNames) && ... + ismember('IMU_UpperTrunk_Right_wz', data.Properties.VariableNames) + + imu_3_w = [data.IMU_UpperTrunk_Right_wx, data.IMU_UpperTrunk_Right_wy, data.IMU_UpperTrunk_Right_wz]; + + subplot(3, 1, 3); + plot(timeIncrements, imu_3_w, 'LineWidth', 1.5); + xlabel('Time (s)'); + ylabel('Angular velocity (rad/s)'); + title('IMU\_3'); + legend('IMU\_X', 'IMU\_Y', 'IMU\_Z'); +else + disp('Los datos de IMU 3 - Velocidades angulares no se encuentran disponibles. Ignorando figura.'); +end \ No newline at end of file From 5f30696c26a7961eca31c82a9e77798fbdb29e6e Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 29 Jun 2023 20:12:29 +0200 Subject: [PATCH 49/53] Added resultant line for platform 1 plots --- matlab/csv_data_plotter.m | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/matlab/csv_data_plotter.m b/matlab/csv_data_plotter.m index a292099..ab1fc8a 100644 --- a/matlab/csv_data_plotter.m +++ b/matlab/csv_data_plotter.m @@ -45,14 +45,15 @@ ismember('P1_LoadCell_X_4', data.Properties.VariableNames) loadCell_X1 = [data.P1_LoadCell_X_1, data.P1_LoadCell_X_2, data.P1_LoadCell_X_3, data.P1_LoadCell_X_4]; + resultant_X1 = -data.P1_LoadCell_X_1 + data.P1_LoadCell_X_2 + data.P1_LoadCell_X_3 - data.P1_LoadCell_X_4; subplot(3, 1, 2); - plot(timeIncrements, loadCell_X1, 'LineWidth', 1.5); + plot(timeIncrements, [loadCell_X1,resultant_X1], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Force (N)'); title('P1\_LoadCell\_X'); - legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4'); + legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4', 'RESULTANTE'); else disp('Los datos de Plataforma 1 - Eje X no se encuentran disponibles. Ignorando figura.'); @@ -65,14 +66,15 @@ ismember('P1_LoadCell_Y_4', data.Properties.VariableNames) loadCell_Y1 = [data.P1_LoadCell_Y_1, data.P1_LoadCell_Y_2, data.P1_LoadCell_Y_3, data.P1_LoadCell_Y_4]; + resultant_Y1 = -data.P1_LoadCell_Y_1 - data.P1_LoadCell_Y_2 + data.P1_LoadCell_Y_3 + data.P1_LoadCell_Y_4; subplot(3, 1, 3); - plot(timeIncrements, loadCell_Y1, 'LineWidth', 1.5); + plot(timeIncrements, [loadCell_Y1,resultant_Y1], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Force (N)'); title('P1\_LoadCell\_Y'); - legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4'); + legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4', 'RESULTANTE'); else disp('Los datos de Plataforma 1 - Eje Y no se encuentran disponibles. Ignorando figura.'); end From ab98deb9f8ec14228feec280e49937358ee35bc0 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Thu, 29 Jun 2023 20:13:58 +0200 Subject: [PATCH 50/53] Added new scripts of squats models to calculate forces and momentums from tests --- ...r.m => squats_free_mathmodel_calculator.m} | 96 +++---- .../squats_restricted_mathmodel_calculator.m | 237 ++++++++++++++++++ 2 files changed, 285 insertions(+), 48 deletions(-) rename matlab/{mathmodel_calculator.m => squats_free_mathmodel_calculator.m} (67%) create mode 100644 matlab/squats_restricted_mathmodel_calculator.m diff --git a/matlab/mathmodel_calculator.m b/matlab/squats_free_mathmodel_calculator.m similarity index 67% rename from matlab/mathmodel_calculator.m rename to matlab/squats_free_mathmodel_calculator.m index e69e95a..b215d56 100644 --- a/matlab/mathmodel_calculator.m +++ b/matlab/squats_free_mathmodel_calculator.m @@ -1,7 +1,8 @@ %% FORCES AND MOMENTUM VALUES CALCULATOR % Author: Aaron Raul Poyatos Bakker % Date: 13/06/2023 -% With the angle information, obtain all forces and momentums +% With the angle information, obtain all unknown forces and momentums for +% the squats free model. %% IMPORT DATA % Change path to desired csv file @@ -33,20 +34,20 @@ size(absangle_A) %% EXAMPLES WITH VIRTUAL ANGLES -% Comment/delete this section if you want to use imported data from csv -timeIncrements = 0:0.01:4; -% absangle_A = transpose(linspace(pi/2, pi/4, numel(timeIncrements))); -% absangle_B = transpose(linspace(pi/2, pi/1.2, numel(timeIncrements))); -% absangle_C = transpose(linspace(pi/2, pi/5, numel(timeIncrements))); -pos_i = pi/2; -pos_f_A = pi/4; -pos_f_B = pi/1.2; -pos_f_C = pi/5; -reps = 2; - -absangle_A = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_A); -absangle_B = test_angle_trajectories_parabolic(timeIncrements,reps,pos_i,pos_f_B); -absangle_C = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_C); +% % Comment/delete this section if you want to use imported data from csv +% timeIncrements = 0:0.01:4; +% % absangle_A = transpose(linspace(pi/2, pi/4, numel(timeIncrements))); +% % absangle_B = transpose(linspace(pi/2, pi/1.2, numel(timeIncrements))); +% % absangle_C = transpose(linspace(pi/2, pi/5, numel(timeIncrements))); +% pos_i = pi/2; +% pos_f_A = pi/4; +% pos_f_B = pi/1.2; +% pos_f_C = pi/5; +% reps = 2; +% +% absangle_A = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_A); +% absangle_B = test_angle_trajectories_parabolic(timeIncrements,reps,pos_i,pos_f_B); +% absangle_C = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_C); %% MODEL PARAMETERS % General values @@ -57,28 +58,31 @@ % Limbs lengths and CM offsets (m) L_leg = 0.231*h_body/100; L_thigh = 0.237*h_body/100; -L_trunk = 0.303*h_body/100; +L_hat = (0.303+1-0.814)*h_body/100; +L_uppertrunk= 0.303*h_body/100; Lp_leg = 0.433*L_leg; Ld_leg = 0.567*L_leg; Lp_thigh = 0.433*L_thigh; Ld_thigh = 0.567*L_thigh; -Lp_trunk = 0.626*L_trunk; -Ld_trunk = 0.374*L_trunk; +Lp_hat = 0.626*L_hat; +Ld_hat = 0.374*L_hat; % Limbs weights and partial weights (kg) m_leg = 0.0465*m_body; m_thigh = 0.1000*m_body; -m_trunk = 0.6780*m_body; +m_hat = 0.6780*m_body; % Limb turning radios (for inertia) r_cg_leg = 0.302*L_leg; r_cg_thigh = 0.323*L_thigh; -r_cg_trunk = 0.503*L_trunk; +r_cg_hat = 0.503*L_hat; %% OBTAIN MATRIX VALUES % Inertia values: I = m*R2 I_leg = m_leg*r_cg_leg*r_cg_leg; I_thigh = m_thigh*r_cg_thigh*r_cg_thigh; -I_trunk = m_trunk*r_cg_trunk*r_cg_trunk; +I_hat = m_hat*r_cg_hat*r_cg_hat; +d = L_uppertrunk - Ld_hat; +I_barbell = m_barbell*d*d; % --- Absolute angles management % Sines and cosines of absolute angles @@ -115,13 +119,13 @@ a_thigh_x = a_thigh_leg_x + absangle_B_diff2.*Lp_thigh.*(-absangle_B_sin)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; a_thigh_z = a_thigh_leg_z + absangle_B_diff2.*Lp_thigh.*(absangle_B_cos)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; % Trunk COG accelerations -a_trunk_thigh_x = a_thigh_leg_x + absangle_B_diff2.*L_thigh.*(-absangle_B_sin)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; -a_trunk_thigh_z = a_thigh_leg_z + absangle_B_diff2.*L_thigh.*(absangle_B_cos)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; -a_trunk_x = a_trunk_thigh_x + absangle_C_diff2.*Lp_trunk.*(-absangle_C_sin)-Lp_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; -a_trunk_z = a_trunk_thigh_z + absangle_C_diff2.*Lp_trunk.*(absangle_C_cos)-Lp_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; +a_hat_thigh_x = a_thigh_leg_x + absangle_B_diff2.*L_thigh.*(-absangle_B_sin)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; +a_hat_thigh_z = a_thigh_leg_z + absangle_B_diff2.*L_thigh.*(absangle_B_cos)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; +a_hat_x = a_hat_thigh_x + absangle_C_diff2.*Lp_hat.*(-absangle_C_sin)-Lp_hat.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_hat_z = a_hat_thigh_z + absangle_C_diff2.*Lp_hat.*(absangle_C_cos)-Lp_hat.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; % Barbell COG accelerations -a_barbell_x = a_trunk_thigh_x + absangle_C_diff2.*L_trunk.*(-absangle_C_sin)-L_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; -a_barbell_z = a_trunk_thigh_z + absangle_C_diff2.*L_trunk.*(absangle_C_cos)-L_trunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; +a_barbell_x = a_hat_thigh_x + absangle_C_diff2.*L_uppertrunk.*(-absangle_C_sin)-L_uppertrunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_barbell_z = a_hat_thigh_z + absangle_C_diff2.*L_uppertrunk.*(absangle_C_cos)-L_uppertrunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; %% BUILD A AND B MATRIX % Ax = b -> x = A(-1)*b @@ -132,17 +136,15 @@ for k = 1+offset:iter A = [ - 1, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0; - 0, 1, 0, -1, 0, 0, 0, 0, 0, 0, 0; - Lp_leg*absangle_A_sin(k,1), -Lp_leg*absangle_A_cos(k,1), Ld_leg*absangle_A_sin(k,1), -Ld_leg*absangle_A_cos(k,1), 0, 0, 0, 0, 1, -1, 0; - 0, 0, 1, 0, -1, 0, 0, 0, 0, 0, 0; - 0, 0, 0, 1, 0, -1, 0, 0, 0, 0, 0; - 0, 0, Lp_thigh*absangle_B_sin(k,1), Lp_thigh*absangle_B_cos(k,1), Ld_thigh*absangle_B_sin(k,1), Ld_thigh*absangle_B_cos(k,1), 0, 0, 0, 1, -1; - 0, 0, 0, 0, 1, 0, -1, 0, 0, 0, 0; - 0, 0, 0, 0, 0, 1, 0, -1, 0, 0, 0; - 0, 0, 0, 0, Lp_trunk*absangle_C_sin(k,1), -Lp_trunk*absangle_C_cos(k,1), Ld_trunk*absangle_C_sin(k,1), -Ld_trunk*absangle_C_cos(k,1), 0, 0, 1; - 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0; - 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0; + 1, 0, -1, 0, 0, 0, 0, 0, 0; + 0, 1, 0, -1, 0, 0, 0, 0, 0; + Ld_leg*absangle_A_sin(k,1), -Ld_leg*absangle_A_cos(k,1), Lp_leg*absangle_A_sin(k,1), -Lp_leg*absangle_A_cos(k,1), 0, 0, 1, -1, 0; + 0, 0, 1, 0, -1, 0, 0, 0, 0; + 0, 0, 0, 1, 0, -1, 0, 0, 0; + 0, 0, Ld_thigh*absangle_B_sin(k,1), Ld_thigh*absangle_B_cos(k,1), Lp_thigh*absangle_B_sin(k,1), Lp_thigh*absangle_B_cos(k,1), 0, 1, -1; + 0, 0, 0, 0, 1, 0, 0, 0, 0; + 0, 0, 0, 0, 0, 1, 0, 0, 0; + 0, 0, 0, 0, Ld_hat*absangle_C_sin(k,1), -Ld_hat*absangle_C_cos(k,1), 0, 0, 1; ]; b = [ @@ -152,11 +154,9 @@ m_thigh*a_thigh_x(k,1); m_thigh*a_thigh_z(k,1) + m_thigh*g; I_thigh*absangle_B_diff2(k,1); - m_trunk*a_trunk_x(k,1) + m_barbell*a_barbell_x(k,1); - m_trunk*a_trunk_z(k,1) + m_trunk*g + m_barbell*a_barbell_z(k,1); - I_trunk*absangle_C_diff2(k,1) - m_barbell*a_barbell_x(k,1)*Ld_trunk*absangle_C_sin(k,1) + m_barbell*a_barbell_z(k,1).*Ld_trunk*absangle_C_cos(k,1); - 0; - m_barbell*g; + m_hat*a_hat_x(k,1) + m_barbell*a_barbell_x(k,1); + m_hat*a_hat_z(k,1) + m_hat*g + m_barbell*a_barbell_z(k,1) + m_barbell*g; + m_barbell*g*Lp_hat*absangle_C_cos(k,1) + (I_hat+I_barbell)*absangle_C_diff2(k,1) - m_barbell*a_barbell_x(k,1)*d*absangle_C_sin(k,1) + m_barbell*a_barbell_z(k,1).*d*absangle_C_cos(k,1); ]; x = A\b; @@ -164,7 +164,7 @@ end % Each cell contains the force and momentum values in the following order: -% x: [F12x;F12z;F23x;F23z;F34x;F34z;Fx;Fz;Ma;Mk;Mh] +% x: [F12x;F12z;F23x;F23z;F34x;F34z;Ma;Mk;Mh] size(x_cell) %% PLOT RESULTS @@ -174,9 +174,9 @@ m3 = zeros(length(timeIncrements), 1); for k = 1+offset:iter current_cell = x_cell{k}; - current_m1 = current_cell(9,1); - current_m2 = current_cell(10,1); - current_m3 = current_cell(11,1); + current_m1 = current_cell(7,1); + current_m2 = current_cell(8,1); + current_m3 = current_cell(9,1); m1(k) = current_m1; m2(k) = current_m2; m3(k) = current_m3; @@ -193,7 +193,7 @@ legend('Ankle (Z axis)', 'Knee (Z axis)', 'Hip (Y axis)'); subplot(3, 1, 2); -plot(timeIncrements, [a_leg_z,a_thigh_z,a_trunk_z], 'LineWidth', 1.5); +plot(timeIncrements, [a_leg_z,a_thigh_z,a_hat_z], 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Acc (m/s2)'); diff --git a/matlab/squats_restricted_mathmodel_calculator.m b/matlab/squats_restricted_mathmodel_calculator.m new file mode 100644 index 0000000..6a6d89f --- /dev/null +++ b/matlab/squats_restricted_mathmodel_calculator.m @@ -0,0 +1,237 @@ +%% FORCES AND MOMENTUM VALUES CALCULATOR +% Author: Aaron Raul Poyatos Bakker +% Date: 13/06/2023 +% With the angle information and an horizontal force, obtain all unknown +% forces and momentums for the squats restricted model. + +%% IMPORT DATA +% Change path to desired csv file +data = readtable('../pruebas/EnsayoGiros.csv', 'Delimiter', ','); + +% Data +timestamps = data.timestamp; +force_horizontal = -data.P1_LoadCell_X_1 + data.P1_LoadCell_X_2 + data.P1_LoadCell_X_3 - data.P1_LoadCell_X_4 ... + -data.P2_LoadCell_X_1 + data.P2_LoadCell_X_2 + data.P2_LoadCell_X_3 - data.P2_LoadCell_X_4; +imu_1_q = [data.IMU_Leg_Right_qw, data.IMU_Leg_Right_qx, data.IMU_Leg_Right_qy, data.IMU_Leg_Right_qz]; +imu_1_w = [data.IMU_Leg_Right_wx, data.IMU_Leg_Right_wy, data.IMU_Leg_Right_wz]; +imu_2_q = [data.IMU_Thigh_Right_qw, data.IMU_Thigh_Right_qx, data.IMU_Thigh_Right_qy, data.IMU_Thigh_Right_qz]; +imu_2_w = [data.IMU_Thigh_Right_wx, data.IMU_Thigh_Right_wy, data.IMU_Thigh_Right_wz]; +imu_3_q = [data.IMU_UpperTrunk_Right_qw, data.IMU_UpperTrunk_Right_qx, data.IMU_UpperTrunk_Right_qy, data.IMU_UpperTrunk_Right_qz]; +imu_3_w = [data.IMU_UpperTrunk_Right_wx, data.IMU_UpperTrunk_Right_wy, data.IMU_UpperTrunk_Right_wz]; + +% Transform timestamp to seconds +timeIncrements = timestamps/1000 - timestamps(1)/1000; + +% Transform quaternions values to Euler angles +imu_1_eul = quat2eul(imu_1_q, 'XYZ'); +imu_2_eul = quat2eul(imu_2_q, 'XYZ'); +imu_3_eul = quat2eul(imu_3_q, 'XYZ'); + +% Extract absolute angles +% TODO CHECK REAL DATA VALUES TO TRANSFORM IN ABS ANGLES +absangle_A = imu_1_eul(:, 3); % Leg Z angle +absangle_B = imu_2_eul(:, 3); % Thigh Z angle +absangle_C = imu_3_eul(:, 1); % Trunk Y angle + +size(absangle_A) + +%% EXAMPLES WITH VIRTUAL ANGLES +% % Comment/delete this section if you want to use imported data from csv +% timeIncrements = 0:0.01:4; +% % absangle_A = transpose(linspace(pi/2, pi/4, numel(timeIncrements))); +% % absangle_B = transpose(linspace(pi/2, pi/1.2, numel(timeIncrements))); +% % absangle_C = transpose(linspace(pi/2, pi/5, numel(timeIncrements))); +% pos_i = pi/2; +% pos_f_A = pi/4; +% pos_f_B = pi/1.2; +% pos_f_C = pi/5; +% reps = 2; +% +% absangle_A = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_A); +% absangle_B = test_angle_trajectories_parabolic(timeIncrements,reps,pos_i,pos_f_B); +% absangle_C = test_angle_trajectories_linear(timeIncrements,reps,pos_i,pos_f_C); + +%% MODEL PARAMETERS +% General values +g = 9.81; % m/s2 +m_body = 90; % Body total weight (kg) +h_body = 170; % Body total height (cm) +m_barbell = 100; % Barbell total weight (kg) +% Limbs lengths and CM offsets (m) +L_leg = 0.231*h_body/100; +L_thigh = 0.237*h_body/100; +L_hat = (0.303+1-0.814)*h_body/100; +L_uppertrunk= 0.303*h_body/100; +Lp_leg = 0.433*L_leg; +Ld_leg = 0.567*L_leg; +Lp_thigh = 0.433*L_thigh; +Ld_thigh = 0.567*L_thigh; +Lp_hat = 0.626*L_hat; +Ld_hat = 0.374*L_hat; +% Limbs weights and partial weights (kg) +m_leg = 0.0465*m_body; +m_thigh = 0.1000*m_body; +m_hat = 0.6780*m_body; + +% Limb turning radios (for inertia) +r_cg_leg = 0.302*L_leg; +r_cg_thigh = 0.323*L_thigh; +r_cg_hat = 0.503*L_hat; + +%% OBTAIN MATRIX VALUES +% Inertia values: I = m*R2 +I_leg = m_leg*r_cg_leg*r_cg_leg; +I_thigh = m_thigh*r_cg_thigh*r_cg_thigh; +I_hat = m_hat*r_cg_hat*r_cg_hat; +d = L_uppertrunk - Ld_hat; +I_barbell = m_barbell*d*d; + +% --- Absolute angles management +% Sines and cosines of absolute angles +absangle_A_sin = sin(absangle_A); +absangle_A_cos = cos(absangle_A); +absangle_B_sin = sin(absangle_B); +absangle_B_cos = cos(absangle_B); +absangle_C_sin = sin(absangle_C); +absangle_C_cos = cos(absangle_C); + +% Get first and second absolute angle derivates +dt = timeIncrements(2) - timeIncrements(1); +absangle_A_diff = diff(absangle_A,1) ./ dt; +absangle_B_diff = diff(absangle_B,1) ./ dt; +absangle_C_diff = diff(absangle_C,1) ./ dt; +absangle_A_diff2 = diff(absangle_A,2) ./ dt; +absangle_B_diff2 = diff(absangle_B,2) ./ dt; +absangle_C_diff2 = diff(absangle_C,2) ./ dt; +% Add initial ceros to match lengths +absangle_A_diff = [zeros(1, 1); absangle_A_diff]; +absangle_B_diff = [zeros(1, 1); absangle_B_diff]; +absangle_C_diff = [zeros(1, 1); absangle_C_diff]; +absangle_A_diff2 = [zeros(2, 1); absangle_A_diff2]; +absangle_B_diff2 = [zeros(2, 1); absangle_B_diff2]; +absangle_C_diff2 = [zeros(2, 1); absangle_C_diff2]; + +% --- Limb accelerations +% Leg COG accelerations +a_leg_x = absangle_A_diff2.*Lp_leg.*(-absangle_A_sin)-Lp_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_cos; +a_leg_z = absangle_A_diff2.*Lp_leg.*(absangle_A_cos)-Lp_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_sin; +% Thigh COG accelerations +a_thigh_leg_x = absangle_A_diff2.*L_leg.*(-absangle_A_sin)-L_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_cos; +a_thigh_leg_z = absangle_A_diff2.*L_leg.*(absangle_A_cos)-L_leg.*absangle_A_diff.*absangle_A_diff.*absangle_A_sin; +a_thigh_x = a_thigh_leg_x + absangle_B_diff2.*Lp_thigh.*(-absangle_B_sin)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; +a_thigh_z = a_thigh_leg_z + absangle_B_diff2.*Lp_thigh.*(absangle_B_cos)-Lp_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; +% Trunk COG accelerations +a_hat_thigh_x = a_thigh_leg_x + absangle_B_diff2.*L_thigh.*(-absangle_B_sin)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_cos; +a_hat_thigh_z = a_thigh_leg_z + absangle_B_diff2.*L_thigh.*(absangle_B_cos)-L_thigh.*absangle_B_diff.*absangle_B_diff.*absangle_B_sin; +a_hat_x = a_hat_thigh_x + absangle_C_diff2.*Lp_hat.*(-absangle_C_sin)-Lp_hat.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_hat_z = a_hat_thigh_z + absangle_C_diff2.*Lp_hat.*(absangle_C_cos)-Lp_hat.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; +% Barbell COG accelerations +a_barbell_x = a_hat_thigh_x + absangle_C_diff2.*L_uppertrunk.*(-absangle_C_sin)-L_uppertrunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_cos; +a_barbell_z = a_hat_thigh_z + absangle_C_diff2.*L_uppertrunk.*(absangle_C_cos)-L_uppertrunk.*absangle_C_diff.*absangle_C_diff.*absangle_C_sin; + +%% BUILD A AND B MATRIX +% Ax = b -> x = A(-1)*b + +iter = length(timeIncrements); +x_cell = cell(iter, 1); +offset = 3; % Avoid initial acceleration peaks + +for k = 1+offset:iter + A = [ + 0, -1, 0, 0, 0, 0, 0, 0, 0; + 1, 0, -1, 0, 0, 0, 0, 0, 0; + -Ld_leg*absangle_A_cos(k,1), Lp_leg*absangle_A_sin(k,1), -Lp_leg*absangle_A_cos(k,1), 0, 0, 0, 1, -1, 0; + 0, 1, 0, -1, 0, 0, 0, 0, 0; + 0, 0, 1, 0, -1, 0, 0, 0, 0; + 0, Ld_thigh*absangle_B_sin(k,1), Ld_thigh*absangle_B_cos(k,1), Lp_thigh*absangle_B_sin(k,1), Lp_thigh*absangle_B_cos(k,1), 0, 0, 1, -1; + 0, 0, 0, 1, 0, -1, 0, 0, 0; + 0, 0, 0, 0, 1, 0, 0, 0, 0; + 0, 0, 0, Ld_hat*absangle_C_sin(k,1), -Ld_hat*absangle_C_cos(k,1), Lp_hat*absangle_C_sin(k,1), 0, 0, 1; + ]; + + b = [ + -force_horizontal + m_leg*a_leg_x(k,1); + m_leg*a_leg_z(k,1) + m_leg*g; + -force_horizontal * Ld_leg * absangle_A_sin(k,1) + I_leg*absangle_A_diff2(k,1); + m_thigh*a_thigh_x(k,1); + m_thigh*a_thigh_z(k,1) + m_thigh*g; + I_thigh*absangle_B_diff2(k,1); + m_hat*a_hat_x(k,1); + m_hat*a_hat_z(k,1) + m_hat*g + m_barbell*a_barbell_z(k,1) + m_barbell*g; + m_barbell*g*Lp_hat*absangle_C_cos(k,1) + (I_hat+I_barbell)*absangle_C_diff2(k,1) + m_barbell*a_barbell_z(k,1).*d*absangle_C_cos(k,1); + ]; + + x = A\b; + x_cell{k} = x; +end + +% Each cell contains the force and momentum values in the following order: +% x: [F12z;F23x;F23z;F34x;F34z;Fx;Ma;Mk;Mh] +size(x_cell) + +%% PLOT RESULTS +% Get momentum vectors (ankle, knee and hip) +m1 = zeros(length(timeIncrements), 1); +m2 = zeros(length(timeIncrements), 1); +m3 = zeros(length(timeIncrements), 1); +for k = 1+offset:iter + current_cell = x_cell{k}; + current_m1 = current_cell(7,1); + current_m2 = current_cell(8,1); + current_m3 = current_cell(9,1); + m1(k) = current_m1; + m2(k) = current_m2; + m3(k) = current_m3; +end + +% Plot absolute angles and momentums +figure (1); +subplot(3, 1, 1); +plot(timeIncrements, [rad2deg(absangle_A),rad2deg(absangle_B),rad2deg(absangle_C)], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles'); +legend('Ankle (Z axis)', 'Knee (Z axis)', 'Hip (Y axis)'); + +subplot(3, 1, 2); +plot(timeIncrements, [a_leg_z,a_thigh_z,a_hat_z], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Acc (m/s2)'); +title('Accel Z axis'); +legend('Leg', 'Thigh', 'Trunk'); + +subplot(3, 1, 3); +plot(timeIncrements, [m1,m2,m3], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Momentum (Nm)'); +title('Momentums'); +legend('Ankle', 'Knee', 'Hip'); + +% Plot only absolute angles +figure (2); +subplot(3, 1, 1); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 1)),rad2deg(imu_2_eul(:, 1)),rad2deg(imu_3_eul(:, 1))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles X axis'); +legend('Ankle', 'Knee', 'Hip'); + +subplot(3, 1, 2); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 2)),rad2deg(imu_2_eul(:, 2)),rad2deg(imu_3_eul(:, 2))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles Y axis'); +legend('Ankle', 'Knee', 'Hip'); + +subplot(3, 1, 3); +plot(timeIncrements, [rad2deg(imu_1_eul(:, 3)),rad2deg(imu_2_eul(:, 3)),rad2deg(imu_3_eul(:, 3))], 'LineWidth', 1.5); +grid on; +xlabel('Time (s)'); +ylabel('Angle (º)'); +title('Absolute angles Z axis'); +legend('Ankle', 'Knee', 'Hip'); From 86b73ee8ce0567417d3697858edc54d35425cebb Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 30 Jun 2023 11:18:09 +0200 Subject: [PATCH 51/53] Fixed XY axis signs in platform 1 values --- matlab/csv_data_plotter.m | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/matlab/csv_data_plotter.m b/matlab/csv_data_plotter.m index ab1fc8a..027fbd2 100644 --- a/matlab/csv_data_plotter.m +++ b/matlab/csv_data_plotter.m @@ -9,7 +9,7 @@ % - 3 subfigures for IMUs angular velocity data %% IMPORT DATA -data = readtable('../pruebas/TestInclinado.csv', 'Delimiter', ','); +data = readtable('../pruebas/TestViktorApoyos.csv', 'Delimiter', ','); % Transform timestamp to seconds timestamps = data.timestamp; @@ -44,7 +44,7 @@ ismember('P1_LoadCell_X_3', data.Properties.VariableNames) && ... ismember('P1_LoadCell_X_4', data.Properties.VariableNames) - loadCell_X1 = [data.P1_LoadCell_X_1, data.P1_LoadCell_X_2, data.P1_LoadCell_X_3, data.P1_LoadCell_X_4]; + loadCell_X1 = [-data.P1_LoadCell_X_1, data.P1_LoadCell_X_2, data.P1_LoadCell_X_3, - data.P1_LoadCell_X_4]; resultant_X1 = -data.P1_LoadCell_X_1 + data.P1_LoadCell_X_2 + data.P1_LoadCell_X_3 - data.P1_LoadCell_X_4; subplot(3, 1, 2); @@ -65,7 +65,7 @@ ismember('P1_LoadCell_Y_3', data.Properties.VariableNames) && ... ismember('P1_LoadCell_Y_4', data.Properties.VariableNames) - loadCell_Y1 = [data.P1_LoadCell_Y_1, data.P1_LoadCell_Y_2, data.P1_LoadCell_Y_3, data.P1_LoadCell_Y_4]; + loadCell_Y1 = [-data.P1_LoadCell_Y_1, - data.P1_LoadCell_Y_2, data.P1_LoadCell_Y_3, data.P1_LoadCell_Y_4]; resultant_Y1 = -data.P1_LoadCell_Y_1 - data.P1_LoadCell_Y_2 + data.P1_LoadCell_Y_3 + data.P1_LoadCell_Y_4; subplot(3, 1, 3); From 81b9488709593ba377c95ef43ac25aabcf6691a6 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 30 Jun 2023 14:59:22 +0200 Subject: [PATCH 52/53] Modify some plot values and line colors --- matlab/csv_data_plotter.m | 111 +++++++++++++++++++++++++++++++------- 1 file changed, 91 insertions(+), 20 deletions(-) diff --git a/matlab/csv_data_plotter.m b/matlab/csv_data_plotter.m index 027fbd2..567b39c 100644 --- a/matlab/csv_data_plotter.m +++ b/matlab/csv_data_plotter.m @@ -9,7 +9,7 @@ % - 3 subfigures for IMUs angular velocity data %% IMPORT DATA -data = readtable('../pruebas/TestViktorApoyos.csv', 'Delimiter', ','); +data = readtable('../ensayos_2023_06_30/EnsayoRapida.csv', 'Delimiter', ','); % Transform timestamp to seconds timestamps = data.timestamp; @@ -28,10 +28,16 @@ resultant_Z1 = data.P1_LoadCell_Z_1 + data.P1_LoadCell_Z_2 + data.P1_LoadCell_Z_3 + data.P1_LoadCell_Z_4; subplot(3, 1, 1); - plot(timeIncrements, [loadCell_Z1,resultant_Z1], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_Z1(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z1(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z1(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z1(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_Z1, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P1\_LoadCell\_Z'); legend('P1\_LoadCell\_Z\_1', 'P1\_LoadCell\_Z\_2', 'P1\_LoadCell\_Z\_3', 'P1\_LoadCell\_Z\_4', 'RESULTANTE'); else @@ -48,10 +54,16 @@ resultant_X1 = -data.P1_LoadCell_X_1 + data.P1_LoadCell_X_2 + data.P1_LoadCell_X_3 - data.P1_LoadCell_X_4; subplot(3, 1, 2); - plot(timeIncrements, [loadCell_X1,resultant_X1], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_X1(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X1(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X1(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X1(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_X1, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P1\_LoadCell\_X'); legend('P1\_LoadCell\_X\_1', 'P1\_LoadCell\_X\_2', 'P1\_LoadCell\_X\_3', 'P1\_LoadCell\_X\_4', 'RESULTANTE'); @@ -69,10 +81,16 @@ resultant_Y1 = -data.P1_LoadCell_Y_1 - data.P1_LoadCell_Y_2 + data.P1_LoadCell_Y_3 + data.P1_LoadCell_Y_4; subplot(3, 1, 3); - plot(timeIncrements, [loadCell_Y1,resultant_Y1], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_Y1(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y1(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y1(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y1(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_Y1, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P1\_LoadCell\_Y'); legend('P1\_LoadCell\_Y\_1', 'P1\_LoadCell\_Y\_2', 'P1\_LoadCell\_Y\_3', 'P1\_LoadCell\_Y\_4', 'RESULTANTE'); else @@ -92,10 +110,16 @@ resultant_Z2 = data.P2_LoadCell_Z_1 + data.P2_LoadCell_Z_2 + data.P2_LoadCell_Z_3 + data.P2_LoadCell_Z_4; subplot(3, 1, 1); - plot(timeIncrements, [loadCell_Z2,resultant_Z2], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_Z2(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z2(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z2(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Z2(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_Z2, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P2\_LoadCell\_Z'); legend('P2\_LoadCell\_Z\_1', 'P2\_LoadCell\_Z\_2', 'P2\_LoadCell\_Z\_3', 'P2\_LoadCell\_Z\_4','RESULTANTE'); else @@ -112,10 +136,16 @@ resultant_X2 = -data.P2_LoadCell_X_1 + data.P2_LoadCell_X_2 + data.P2_LoadCell_X_3 - data.P2_LoadCell_X_4; subplot(3, 1, 2); - plot(timeIncrements, [loadCell_X2,resultant_X2], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_X2(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X2(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X2(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_X2(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_X2, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P2\_LoadCell\_X'); legend('P2\_LoadCell\_X\_1', 'P2\_LoadCell\_X\_2', 'P2\_LoadCell\_X\_3', 'P2\_LoadCell\_X\_4','RESULTANTE'); else @@ -132,10 +162,16 @@ resultant_Y2 = -data.P2_LoadCell_Y_1 - data.P2_LoadCell_Y_2 + data.P2_LoadCell_Y_3 + data.P2_LoadCell_Y_4; subplot(3, 1, 3); - plot(timeIncrements, [loadCell_Y2,resultant_Y2], 'LineWidth', 1.5); + hold on; + plot(timeIncrements, loadCell_Y2(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y2(:, 2), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y2(:, 3), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, loadCell_Y2(:, 4), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, resultant_Y2, 'k-', 'LineWidth', 2.5); + hold off; grid on; xlabel('Time (s)'); - ylabel('Force (N)'); + ylabel('Weight (kg)'); title('P2\_LoadCell\_Y'); legend('P2\_LoadCell\_Y\_1', 'P2\_LoadCell\_Y\_2', 'P2\_LoadCell\_Y\_3', 'P2\_LoadCell\_Y\_4','RESULTANTE'); @@ -150,7 +186,12 @@ encoders = [data.Encoder_Z_1, data.Encoder_Z_2]; - plot(timeIncrements, encoders, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, encoders(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, encoders(:, 2), 'b-', 'LineWidth', 1.5); + hold off; + + % plot(timeIncrements, encoders, 'LineWidth', 1.5); grid on; xlabel('Time (s)'); ylabel('Distance (mm)'); @@ -175,7 +216,12 @@ imu_1_eul_deg = rad2deg(imu_1_eul); subplot(3, 1, 1); - plot(timeIncrements, imu_1_eul_deg, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_1_eul_deg(:, 1), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, imu_1_eul_deg(:, 2), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, imu_1_eul_deg(:, 3), 'k-', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_1_eul_deg, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angle (º)'); title('IMU\_1'); @@ -196,7 +242,12 @@ imu_2_eul_deg = rad2deg(imu_2_eul); subplot(3, 1, 2); - plot(timeIncrements, imu_2_eul_deg, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_2_eul_deg(:, 1), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, imu_2_eul_deg(:, 2), 'b--', 'LineWidth', 1.5); + plot(timeIncrements, imu_2_eul_deg(:, 3), 'k-', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_2_eul_deg, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angle (º)'); title('IMU\_2'); @@ -217,7 +268,12 @@ imu_3_eul_deg = rad2deg(imu_3_eul); subplot(3, 1, 3); - plot(timeIncrements, imu_3_eul_deg, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_3_eul_deg(:, 1), 'r--', 'LineWidth', 1.5); + plot(timeIncrements, imu_3_eul_deg(:, 2), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, imu_3_eul_deg(:, 3), 'k--', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_3_eul_deg, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angle (º)'); title('IMU\_3'); @@ -237,7 +293,12 @@ imu_1_w = [data.IMU_Leg_Right_wx, data.IMU_Leg_Right_wy, data.IMU_Leg_Right_wz]; subplot(3, 1, 1); - plot(timeIncrements, imu_1_w, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_1_w(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, imu_1_w(:, 2), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, imu_1_w(:, 3), 'k-', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_1_w, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angular velocity (rad/s)'); title('IMU\_1'); @@ -254,7 +315,12 @@ imu_2_w = [data.IMU_Thigh_Right_wx, data.IMU_Thigh_Right_wy, data.IMU_Thigh_Right_wz]; subplot(3, 1, 2); - plot(timeIncrements, imu_2_w, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_2_w(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, imu_2_w(:, 2), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, imu_2_w(:, 3), 'k-', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_2_w, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angular velocity (rad/s)'); title('IMU\_2'); @@ -271,7 +337,12 @@ imu_3_w = [data.IMU_UpperTrunk_Right_wx, data.IMU_UpperTrunk_Right_wy, data.IMU_UpperTrunk_Right_wz]; subplot(3, 1, 3); - plot(timeIncrements, imu_3_w, 'LineWidth', 1.5); + hold on; + plot(timeIncrements, imu_3_w(:, 1), 'r-', 'LineWidth', 1.5); + plot(timeIncrements, imu_3_w(:, 2), 'b-', 'LineWidth', 1.5); + plot(timeIncrements, imu_3_w(:, 3), 'k-', 'LineWidth', 1.5); + hold off; + % plot(timeIncrements, imu_3_w, 'LineWidth', 1.5); xlabel('Time (s)'); ylabel('Angular velocity (rad/s)'); title('IMU\_3'); From e29385ca016755f501a684062c558e712054b3d5 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 3 Jul 2023 13:24:01 +0200 Subject: [PATCH 53/53] Fixes #7 --- src/inputReader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/inputReader.py b/src/inputReader.py index 1a7e608..c51a92d 100644 --- a/src/inputReader.py +++ b/src/inputReader.py @@ -222,7 +222,7 @@ def readerStop(self): self.phidgetP1LoadCellsHandler.stop() self.phidgetP2LoadCellsHandler.stop() self.phidgetEncodersHandler.stop() - self.taoboticsIMUsHandler.stop() + self.loadSensorType(self.taoboticsIMUsHandler, 'taobotics_imu_list') self.log_handler.logger.info("Test finished!") self.sensor_dataframe.exportToCSV(os.path.join( self.test_folder, self.test_name + '.csv'))

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b/docs/features/calibration_test.md index 5cb9de8..48eb7f6 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -5,7 +5,7 @@ Previously, you need to connect the sensors you want to calibrate in the main GUI as shown in the following picture. -![Sensor connection example](../images/docs_images/calibration_sensor_connection.png) +![Sensor connection example](../../images/docs_images/calibration_sensor_connection.png) Then, click on the `Calibrar células` button on the left panel. This button will be available if at least one of the selected sensors is connected. @@ -13,7 +13,7 @@ Then, click on the `Calibrar células` button on the left panel. This button wil This menu will replace the main GUI, with the compatible sensors. The appearance of the calibration menu is presented in the following image. -![Calibration GUI](../images/docs_images/calibration_gui.png) +![Calibration GUI](../../images/docs_images/calibration_gui.png) The menu loads all compatible sensor lists defined in defined in `config.yaml`, but only the connected ones will be enabled. @@ -29,7 +29,7 @@ In order to preform a calibration test, click the enabled button of the connecte A new window will pop up when clicking an enabled sensor button. The displayed GUI is as shown here. -![Calibration test window](../images/docs_images/calibration_test_gui.png) +![Calibration test window](../../images/docs_images/calibration_test_gui.png) The window is structured in the following sections: - A table in which all measurements will be recorded and the most relevant data (such as the mean and variance of the data sample) are displayed. @@ -49,7 +49,7 @@ Once all measurements have been taken, linear regression can be performed by cli > A minimum of two measurements must be taken for the `Calibrar` button to be available. -![Calibration test window](../images/docs_images/calibration_test_results.png) +![Calibration test window](../../images/docs_images/calibration_test_results.png) This will generate a graph with the regression line obtained (in red) and the measurements taken (as blue dots). The values of the line are displayed above the graph. From aeac216426a2df82b61ff13209076c94e7d3cb20 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 23 Jun 2023 12:01:59 +0200 Subject: [PATCH 29/53] Update home buttons and calibration page --- docs/features/calibration_test.md | 41 ++++++++++++++++++++++++++----- docs/features/general_test.md | 4 +-- docs/setup/config_file.md | 4 +-- docs/setup/project.md | 4 +-- 4 files changed, 41 insertions(+), 12 deletions(-) diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md index 48eb7f6..9476032 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -1,4 +1,4 @@ -:house: [Back to Home](../home.md) +[:house: `Back to Home`](../home.md) # Calibration process **Work in progress** @@ -33,16 +33,40 @@ A new window will pop up when clicking an enabled sensor button. The displayed G The window is structured in the following sections: - A table in which all measurements will be recorded and the most relevant data (such as the mean and variance of the data sample) are displayed. -- An empty field and graph in which the results of the linear regression will be presented. +- An empty field and graph where the results of the linear regression will be presented. - A control panel divided into two rows: the first row to manage the calibration test and the second row to exit the submenu. -*TODO Finish explaining the two types of calibration procedures.* +Calibration is performed by applying known values of weight (or other physical quantity) to the sensor and measuring its output. The test is performed by applying different values in order to establish a linear relationship and obtain a regression line. + +The calibration program allows the known value to be recorded in two ways: +- **Manually**: when the calibration value is known. +- **With a reference sensor**: when the calibration value is unknown or higher accuracy is required. In this case it is necessary to use a calibrated sensor. + +The following sections shows how to record values in the two ways. ### Calibrate with manual inputs -*WIP* + +To calibrate with known values you must follow these steps: + +1. Apply the known magnitude to the sensor. +2. Enter the value in the text field located just below the graph. It can be indicated with or without decimals. +3. Click on the `Medir con valor` button and wait until the buttons are re-enabled. +4. The measurement will appear in the table when it is done. +5. Repeat this procedure as many times as desired. ### Calibrate with calibration sensor input -*WIP* + +To calibrate using the reference sensor, you must first declare it in the [`calibration_sensor` section](../setup/config_file.md#calibration-sensor) of the `config.yaml` file. + +Once defined, run the program, connect the sensors to be calibrated and access the calibration window again. + +The program will try to connect the reference sensor when entering the pop-up window. If no connection is established, an error will appear on console and the `Medir con sensor` button will not be available. + +If the button is active, then the sensor is correctly connected. The steps to proceed in this case are as follows: +1. Apply the known magnitude to the sensor. +2. Click on the `Medir con sensor` button and wait until the buttons are re-enabled. +3. The measurement will appear in the table when it is done. +4. Repeat this procedure as many times as desired. ### Generate the calibration results Once all measurements have been taken, linear regression can be performed by clicking on the `Calibrar` button. @@ -60,6 +84,11 @@ When the first regression line is calculated the `Guardar y cerrar` button in th If at any time you wish to cancel the calibration test, click the `Cancelar` button. +## Calibration settings +It is possible to modify the data reading time and frequency in the [`general settings` section](../setup/config_file.md#general-settings) of the `config.yaml` file. + +It is also possible to change the reference sensor in the [`calibration_sensor` section](../setup/config_file.md#calibration-sensor) of the same file. + --- -:house: [Back to Home](../home.md) \ No newline at end of file +[:house: `Back to Home`](../home.md) \ No newline at end of file diff --git a/docs/features/general_test.md b/docs/features/general_test.md index 0153867..40106fe 100644 --- a/docs/features/general_test.md +++ b/docs/features/general_test.md @@ -1,8 +1,8 @@ -:house: [Back to Home](../home.md) +[:house: `Back to Home`](../home.md) # General test procedure **TODO** --- -:house: [Back to Home](../home.md) +[:house: `Back to Home`](../home.md) diff --git a/docs/setup/config_file.md b/docs/setup/config_file.md index 700dcd8..59dbbc8 100644 --- a/docs/setup/config_file.md +++ b/docs/setup/config_file.md @@ -1,4 +1,4 @@ -:house: [Back to Home](../home.md) +[:house: `Back to Home`](../home.md) # Config File @@ -94,4 +94,4 @@ The config section keys are similar as in [Platform 1 loadcell list](#platform-1 --- -:house: [Back to Home](../home.md) \ No newline at end of file +[:house: `Back to Home`](../home.md) \ No newline at end of file diff --git a/docs/setup/project.md b/docs/setup/project.md index b7dacd1..b1559bc 100644 --- a/docs/setup/project.md +++ b/docs/setup/project.md @@ -1,4 +1,4 @@ -:house: [Back to Home](../home.md) +[:house: `Back to Home`](../home.md) # Project setup @@ -72,4 +72,4 @@ If the main GUI shows up, its done! --- -:house: [Back to Home](../home.md) \ No newline at end of file +[:house: `Back to Home`](../home.md) \ No newline at end of file From c780f7345dc24d91ea4b840c0301f0f7197a70fc Mon Sep 17 00:00:00 2001 From: AaronPB Date: Fri, 23 Jun 2023 12:20:51 +0200 Subject: [PATCH 30/53] Added link to documentation --- README.md | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index b119407..0b872ca 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,23 @@ # Force Platform Data Reader ## Information + A python script for sensor data management of a force platform. It supports currently the following sensor types: -- Phidget-Bridge compatible load sensors. (Requires Phidget dependency) -- Taobotics IMU sensors. (Requires MRPT dependency) +- Phidget-Bridge compatible load sensors. (Requires Phidget dependency). +- Taobotics IMU sensors. (Requires MRPT dependency). + +## Documentation + +Program documentation is available to learn how the program works and how to use it. + +Check it out [here](docs/home.md). + +## Quick setup -## Setup To use this project, clone it and install the project requirements. + > Do it in a virtual environment to avoid module installation issues (using `virtualenv`, for example). > > This project is developed with Python v3.10.6 @@ -19,6 +28,7 @@ pip install -r requirements.txt ``` ### Phidget dependency + For [Linux](https://www.phidgets.com/docs/OS_-_Linux#Quick_Downloads): ```bash @@ -29,6 +39,7 @@ sudo apt-get install -y libphidget22 > For [Windows](https://www.phidgets.com/docs/OS_-_Windows#Quick_Downloads) or [MacOS](https://www.phidgets.com/docs/OS_-_macOS#Quick_Downloads) ### MRPT dependency + For more information, refer to the [MRPT Documentation](https://docs.mrpt.org/reference/latest/download-mrpt.html#debian-ubuntu-ppa) ```bash @@ -37,4 +48,4 @@ sudo apt install libmrpt-dev mrpt-apps sudo apt install python3-pymrpt ``` -> If you are using `virtualenv`, MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file. \ No newline at end of file +> If you are using `virtualenv`, MRPT cannot be installed by pip. As a temporary solution, set `include-system-site-packages = true` in your `pyvenv.cfg` file. From e8ff948f56be1b8485271b55a1bafdc89d09e9d7 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 10:24:50 +0200 Subject: [PATCH 31/53] GUI text have been translated to English --- src/interface.py | 80 ++++++++++++++++++------------------- src/interfaceCalibration.py | 30 +++++++------- 2 files changed, 55 insertions(+), 55 deletions(-) diff --git a/src/interface.py b/src/interface.py index a941802..f36a134 100644 --- a/src/interface.py +++ b/src/interface.py @@ -28,7 +28,7 @@ def __init__(self): self.initUI() def initUI(self): - self.setWindowTitle('Programa de lecturas') + self.setWindowTitle('Force platform reader') self.setWindowIcon(QtGui.QIcon( os.path.join(self.dir_images, 'logo.ico'))) screen_resolution = QtWidgets. QDesktopWidget().screenGeometry() @@ -102,7 +102,7 @@ def loadIconLayout(self): pixmap = QtGui.QPixmap(os.path.join(self.dir_images, 'logo.ico')) image.setPixmap(pixmap.scaled(150, 150, QtCore.Qt.KeepAspectRatio)) image.setAlignment(QtCore.Qt.AlignCenter) - label = QtWidgets.QLabel('Plataforma fuerza', self) + label = QtWidgets.QLabel('Force Platform Reader', self) label.setFont(QtGui.QFont("Arial", 12, QtGui.QFont.Bold)) label.setAlignment(QtCore.Qt.AlignCenter) @@ -115,46 +115,46 @@ def loadFilesLayout(self): vbox_layout.setAlignment(QtCore.Qt.AlignTop) # Config file - config_label = QtWidgets.QLabel('Archivo configuración:', self) - config_btn = QtWidgets.QPushButton('Seleccionar config', self) + config_label = QtWidgets.QLabel('Configuration file:', self) + config_btn = QtWidgets.QPushButton('Select file', self) config_btn.clicked.connect(self.selectFile) self.config_path = QtWidgets.QLineEdit(self) self.config_path.setReadOnly(True) # Test folder - ubicacion_label = QtWidgets.QLabel('Carpeta del ensayo:', self) - ubicacion_btn = QtWidgets.QPushButton('Abrir ubicación', self) - ubicacion_btn.clicked.connect(self.selectFolder) - self.ubicacion_path = QtWidgets.QLineEdit(self) - self.ubicacion_path.setReadOnly(True) + test_path_label = QtWidgets.QLabel('Test folder path:', self) + test_path_btn = QtWidgets.QPushButton('Select path', self) + test_path_btn.clicked.connect(self.selectFolder) + self.test_path = QtWidgets.QLineEdit(self) + self.test_path.setReadOnly(True) # Test name - texto_label = QtWidgets.QLabel('Nombre del ensayo:', self) - self.texto_input = QtWidgets.QLineEdit(self) - aplicar_btn = QtWidgets.QPushButton('Aplicar', self) + text_label = QtWidgets.QLabel('Test name:', self) + self.text_input = QtWidgets.QLineEdit(self) + aplicar_btn = QtWidgets.QPushButton('Set name', self) aplicar_btn.clicked.connect(self.applyText) vbox_layout.addWidget(config_label, 0, 0) vbox_layout.addWidget(self.config_path, 0, 1) vbox_layout.addWidget(config_btn, 0, 2) - vbox_layout.addWidget(ubicacion_label, 1, 0) - vbox_layout.addWidget(self.ubicacion_path, 1, 1) - vbox_layout.addWidget(ubicacion_btn, 1, 2) - vbox_layout.addWidget(texto_label, 2, 0) - vbox_layout.addWidget(self.texto_input, 2, 1) + vbox_layout.addWidget(test_path_label, 1, 0) + vbox_layout.addWidget(self.test_path, 1, 1) + vbox_layout.addWidget(test_path_btn, 1, 2) + vbox_layout.addWidget(text_label, 2, 0) + vbox_layout.addWidget(self.text_input, 2, 1) vbox_layout.addWidget(aplicar_btn, 2, 2) self.hbox_top.addLayout(vbox_layout) def updatePaths(self): self.config_path.setText(self.inputReader.config_path) - self.ubicacion_path.setText(self.inputReader.test_folder) - self.texto_input.setText(self.inputReader.test_name) + self.test_path.setText(self.inputReader.test_folder) + self.text_input.setText(self.inputReader.test_name) def selectFile(self): options = QtWidgets.QFileDialog.Options() options |= QtWidgets.QFileDialog.DontUseNativeDialog file_name, _ = QtWidgets.QFileDialog.getOpenFileName( - self, 'Seleccionar archivo', '', 'Archivo yaml (*.yaml)', options=options) + self, 'Select file', '', 'Archivo yaml (*.yaml)', options=options) if file_name: self.config_path.setText(file_name) # TODO change and load config params @@ -163,7 +163,7 @@ def selectFolder(self): options = QtWidgets.QFileDialog.Options() options |= QtWidgets.QFileDialog.DontUseNativeDialog folder_path = QtWidgets.QFileDialog.getExistingDirectory( - self, 'Seleccionar carpeta', options=options) + self, 'Select folder', options=options) if folder_path: self.inputReader.configEdit( 'general_settings.test_file_path.folder', folder_path) @@ -173,9 +173,9 @@ def selectFolder(self): "Changed folder path to: " + str(folder_path)) def applyText(self): - name = self.texto_input.text().strip() + name = self.text_input.text().strip() if not name: - name = "Ensayo de pruebas" + name = "Test" self.inputReader.configEdit( 'general_settings.test_file_path.name', name) self.inputReader.loadGeneralSettings() @@ -186,26 +186,26 @@ def applyText(self): def loadPanelLayout(self): vbox_layout = QtWidgets.QVBoxLayout() vbox_layout.setAlignment(QtCore.Qt.AlignTop) - title = QtWidgets.QLabel("Panel") + title = QtWidgets.QLabel("Control panel") title.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) title.setAlignment(QtCore.Qt.AlignCenter) self.calibrate_sensors_btn = QtWidgets.QPushButton( - 'Calibrar células', self) + 'Calibrate sensors', self) self.calibrate_sensors_btn.setEnabled(False) self.calibrate_sensors_btn.clicked.connect(self.openCalibrationMenu) - self.start_btn = QtWidgets.QPushButton('Iniciar lectura', self) + self.start_btn = QtWidgets.QPushButton('Start test', self) self.start_btn.setEnabled(False) self.start_btn.clicked.connect(self.startTest) - self.tare_btn = QtWidgets.QPushButton('Tarar sensores', self) + self.tare_btn = QtWidgets.QPushButton('Tare sensors', self) self.tare_btn.setEnabled(False) self.tare_btn.clicked.connect(self.tareSensors) self.vbox_test_check = QtWidgets.QVBoxLayout() - self.stop_btn = QtWidgets.QPushButton('Finalizar y guardar', self) + self.stop_btn = QtWidgets.QPushButton('Stop test', self) self.stop_btn.setEnabled(False) self.stop_btn.clicked.connect(self.stopTest) - cerrar_btn = QtWidgets.QPushButton('Cerrar programa', self) - cerrar_btn.clicked.connect(self.close) + close_btn = QtWidgets.QPushButton('Close menu', self) + close_btn.clicked.connect(self.close) vbox_layout.addWidget(title) vbox_layout.addWidget(self.calibrate_sensors_btn) @@ -213,7 +213,7 @@ def loadPanelLayout(self): vbox_layout.addWidget(self.tare_btn) vbox_layout.addLayout(self.vbox_test_check) vbox_layout.addWidget(self.stop_btn) - vbox_layout.addWidget(cerrar_btn) + vbox_layout.addWidget(close_btn) self.hbox_mid.addLayout(vbox_layout) def loadSensorLayout(self): @@ -222,12 +222,12 @@ def loadSensorLayout(self): # First layout with title and sensor update button hbox_title_layout = QtWidgets.QHBoxLayout() - title = QtWidgets.QLabel("Información sensores") + title = QtWidgets.QLabel("Sensor information") title.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) title.setAlignment(QtCore.Qt.AlignCenter) update_sensors_btn = QtWidgets.QPushButton( - 'Conectar sensores', self) + 'Connect sensors', self) update_sensors_btn.setMaximumWidth(200) update_sensors_btn.clicked.connect(self.updateSensors) @@ -242,11 +242,11 @@ def loadSensorLayout(self): grid_layout.setAlignment(QtCore.Qt.AlignTop) vbox_p1 = QtWidgets.QVBoxLayout() - vbox_p1.addWidget(QtWidgets.QLabel("Plataforma 1")) + vbox_p1.addWidget(QtWidgets.QLabel("Platform 1")) vbox_p2 = QtWidgets.QVBoxLayout() - vbox_p2.addWidget(QtWidgets.QLabel("Plataforma 2")) + vbox_p2.addWidget(QtWidgets.QLabel("Platform 2")) vbox_p3 = QtWidgets.QVBoxLayout() - vbox_p3.addWidget(QtWidgets.QLabel("Sensores externos")) + vbox_p3.addWidget(QtWidgets.QLabel("External sensors")) grid_layout.addLayout(vbox_p1, 0, 0) grid_layout.addLayout(vbox_p2, 0, 1) grid_layout.addLayout(vbox_p3, 0, 2) @@ -340,10 +340,10 @@ def handleSensorCheckbox(self, state): def updateTestChecks(self): test_status_text = [ - ('Config cargada', '(!!) Pendiente cargar config'), - ('Ubicación seleccionada', '(!!) Selecciona ubicación para el ensayo'), - ('Nombre del ensayo definido', '(!!) Asigna un nombre de ensayo'), - ('Conexión establecida', '(!!) Conecta al menos un sensor')] + ('Config loaded', '(!!) Pending config upload'), + ('Folder path selected', '(!!) Select a folder to save files'), + ('Test name set', '(!!) Set a test name'), + ('Sensors connected', '(!!) Connect at least one sensor')] test_status = self.inputReader.getReaderChecks() while self.vbox_test_check.count(): diff --git a/src/interfaceCalibration.py b/src/interfaceCalibration.py index 3cfdca3..dbe011d 100644 --- a/src/interfaceCalibration.py +++ b/src/interfaceCalibration.py @@ -32,7 +32,7 @@ def __init__(self, parent, inputReader: InputReader): def initUI(self): self.main_vbox_layout = QtWidgets.QVBoxLayout() # Set title and grid layout - title = QtWidgets.QLabel("Panel de Calibración") + title = QtWidgets.QLabel("Calibration Panel") title.setFont(QtGui.QFont("Arial", 14, QtGui.QFont.Bold)) title.setAlignment(QtCore.Qt.AlignCenter) self.setLayout(self.main_vbox_layout) @@ -59,9 +59,9 @@ def clearGridLayout(self): def loadGridLayout(self): # Column labels and images - self.grid_layout.addWidget(QtWidgets.QLabel("Plataforma 1"), 0, 0) - self.grid_layout.addWidget(QtWidgets.QLabel("Plataforma 2"), 0, 1) - self.grid_layout.addWidget(QtWidgets.QLabel("Otros sensores"), 0, 2) + self.grid_layout.addWidget(QtWidgets.QLabel("Platform 1"), 0, 0) + self.grid_layout.addWidget(QtWidgets.QLabel("Platform 2"), 0, 1) + self.grid_layout.addWidget(QtWidgets.QLabel("External sensors"), 0, 2) self.grid_layout.addWidget( self.imageWidget('platform1.png', 350), 1, 0) self.grid_layout.addWidget( @@ -81,7 +81,7 @@ def loadGridLayout(self): # Add close button self.close_button = QtWidgets.QPushButton( - 'Volver al menú principal', self) + 'Back to main menu', self) self.close_button.clicked.connect(self.close) self.grid_layout.addWidget(self.close_button, 20, 0, 1, 3) @@ -120,7 +120,7 @@ def calibrationDialog(self, sensor): calibration_dialog = QtWidgets.QDialog() calibration_dialog.setWindowTitle( - 'Calibración del sensor ' + str(sensor['name'])) + 'Calibration process of sensor ' + str(sensor['name'])) calibration_dialog.resize(900, 800) calibration_dialog_layout = QtWidgets.QVBoxLayout(calibration_dialog) calibration_dialog_layout.setAlignment(QtCore.Qt.AlignTop) @@ -143,7 +143,7 @@ def calibrationDialog(self, sensor): self.test_tree_widget.headerItem().setTextAlignment(column, QtCore.Qt.AlignCenter) self.test_tree_widget.expandAll() calibration_dialog_layout.addWidget( - QtWidgets.QLabel('Mediciones realizadas')) + QtWidgets.QLabel('Measurements information')) calibration_dialog_layout.addWidget(self.test_tree_widget) # Calibration results @@ -153,7 +153,7 @@ def calibrationDialog(self, sensor): self.text_calibration_widget.addItem("Intercept (b):\t-") self.text_calibration_widget.addItem("Score (r2):\t\t-") calibration_dialog_layout.addWidget( - QtWidgets.QLabel('Resultados de la regresión lineal')) + QtWidgets.QLabel('Linear regression results')) calibration_dialog_layout.addWidget(self.text_calibration_widget) # Plot canvas, toolbar = self.generateDefaultPlot() @@ -163,28 +163,28 @@ def calibrationDialog(self, sensor): # Calibration input value self.test_value_input = QtWidgets.QLineEdit() self.test_value_input.setPlaceholderText( - 'Introduce el valor de calibración: (ejemplo) 14.67') + 'Enter calibration value: (example) 14.67') calibration_dialog_layout.addWidget(self.test_value_input) # Dialog buttons upper_button_box = QtWidgets.QHBoxLayout() lower_button_box = QtWidgets.QHBoxLayout() - self.measure_button = QtWidgets.QPushButton('Medir con valor') + self.measure_button = QtWidgets.QPushButton('Measure with value') self.measure_button.clicked.connect(lambda: self.executeTest(False)) self.measure_reference_button = QtWidgets.QPushButton( - 'Medir con sensor') + 'Measure with sensor') self.measure_reference_button.setEnabled( self.inputReader.isCalibrationReferenceConnected()) self.measure_reference_button.clicked.connect( lambda: self.executeTest(True)) - self.calibrate_button = QtWidgets.QPushButton('Calibrar') + self.calibrate_button = QtWidgets.QPushButton('Calibrate') self.calibrate_button.setEnabled(False) self.calibrate_button.clicked.connect(self.calibrationResults) - self.save_button = QtWidgets.QPushButton('Guardar y cerrar') + self.save_button = QtWidgets.QPushButton('Save results and close') self.save_button.setEnabled(False) self.save_button.clicked.connect( lambda: self.saveCalibration(calibration_dialog, sensor['config_path'])) - cancel_button = QtWidgets.QPushButton('Cancelar') + cancel_button = QtWidgets.QPushButton('Cancel process') cancel_button.clicked.connect( lambda: self.closeCalibrationDialog(calibration_dialog)) upper_button_box.addWidget(self.measure_button) @@ -227,7 +227,7 @@ def executeTest(self, reference_sensor): value = float(text) except ValueError: QtWidgets.QMessageBox.warning( - self, 'Error', 'Debe ingresar un número decimal.') + self, 'Error', 'You must enter a valid number (integer or float).') return # Execute calibration test From 41bf1f7c62305569f0336440edef09cf53021f2c Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 10:49:56 +0200 Subject: [PATCH 32/53] Change button format --- docs/features/calibration_test.md | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/docs/features/calibration_test.md b/docs/features/calibration_test.md index 9476032..d64342e 100644 --- a/docs/features/calibration_test.md +++ b/docs/features/calibration_test.md @@ -1,13 +1,12 @@ [:house: `Back to Home`](../home.md) # Calibration process -**Work in progress** Previously, you need to connect the sensors you want to calibrate in the main GUI as shown in the following picture. ![Sensor connection example](../../images/docs_images/calibration_sensor_connection.png) -Then, click on the `Calibrar células` button on the left panel. This button will be available if at least one of the selected sensors is connected. +Then, click on the Calibrate sensors button on the left panel. This button will be available if at least one of the selected sensors is connected. ## Calibration menu @@ -15,7 +14,7 @@ This menu will replace the main GUI, with the compatible sensors. The appearance ![Calibration GUI](../../images/docs_images/calibration_gui.png) -The menu loads all compatible sensor lists defined in defined in `config.yaml`, but only the connected ones will be enabled. +The menu loads all compatible sensor lists defined in `config.yaml`, but only the connected ones will be enabled. > If the desired sensor to be calibrated is not enabled, close de calibration menu and try to reconnect the sensors. It needs to get a green check in the sensor information table. @@ -50,7 +49,7 @@ To calibrate with known values you must follow these steps: 1. Apply the known magnitude to the sensor. 2. Enter the value in the text field located just below the graph. It can be indicated with or without decimals. -3. Click on the `Medir con valor` button and wait until the buttons are re-enabled. +3. Click on the Measure with value button and wait until the buttons are re-enabled. 4. The measurement will appear in the table when it is done. 5. Repeat this procedure as many times as desired. @@ -60,29 +59,29 @@ To calibrate using the reference sensor, you must first declare it in the [`cali Once defined, run the program, connect the sensors to be calibrated and access the calibration window again. -The program will try to connect the reference sensor when entering the pop-up window. If no connection is established, an error will appear on console and the `Medir con sensor` button will not be available. +The program will try to connect the reference sensor when entering the pop-up window. If no connection is established, an error will appear on console and the Measure with sensorbutton will not be available. If the button is active, then the sensor is correctly connected. The steps to proceed in this case are as follows: 1. Apply the known magnitude to the sensor. -2. Click on the `Medir con sensor` button and wait until the buttons are re-enabled. +2. Click on the Measure with sensor button and wait until the buttons are re-enabled. 3. The measurement will appear in the table when it is done. 4. Repeat this procedure as many times as desired. ### Generate the calibration results -Once all measurements have been taken, linear regression can be performed by clicking on the `Calibrar` button. +Once all measurements have been taken, linear regression can be performed by clicking on the Calibrate button. -> A minimum of two measurements must be taken for the `Calibrar` button to be available. +> A minimum of two measurements must be taken for the Calibrate button to be available. ![Calibration test window](../../images/docs_images/calibration_test_results.png) This will generate a graph with the regression line obtained (in red) and the measurements taken (as blue dots). The values of the line are displayed above the graph. -It is possible to continue measuring and click the `Calibrar` button again to calculate a new regression line taking into account all the values. +It is possible to continue measuring and click the Calibrate button again to calculate a new regression line taking into account all the values. ### Save or discard the calibration -When the first regression line is calculated the `Guardar y cerrar` button in the second row will be enabled. Click here to close the window and overwrite the sensor calibration values in the config file with the calibration results. +When the first regression line is calculated the Save and close button in the second row will be enabled. Click here to close the window and overwrite the sensor calibration values in the config file with the calibration results. -If at any time you wish to cancel the calibration test, click the `Cancelar` button. +If at any time you wish to cancel the calibration test, click the Cancel process button. ## Calibration settings It is possible to modify the data reading time and frequency in the [`general settings` section](../setup/config_file.md#general-settings) of the `config.yaml` file. From 97efe02a0f3c62607737a938e00b354ad60a5411 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 10:50:41 +0200 Subject: [PATCH 33/53] WIP Add information of the main GUI --- docs/features/general_test.md | 84 ++++++++++++++++++++++++++++++++++- 1 file changed, 83 insertions(+), 1 deletion(-) diff --git a/docs/features/general_test.md b/docs/features/general_test.md index 40106fe..dcebdd9 100644 --- a/docs/features/general_test.md +++ b/docs/features/general_test.md @@ -1,7 +1,89 @@ [:house: `Back to Home`](../home.md) # General test procedure -**TODO** +**Work in progress** + +The main objective of the program is to record data from the connected sensors in a synchronised manner and to generate a file in `.csv` format at the end of each trial. + +When running the `main.py` file of the program, a window like this will open: + +![Main GUI](../../images/docs_images/main_gui.png) + +The interface is organised in three main sections which will be detailed below: +- File management. +- Control panel and sensor connection. +- Plot results. + +## File management + +![Main GUI Section 1](../../images/docs_images/main_gui_section1.png) + +In this section you can configure the following options listed below. + +### Load a custom configuration file +**Not yet implemented** + +It is possible to load another `.yaml` file than the default `config.yaml` file. This is useful when you want to run tests that have different sensor and platform layouts and other calibration values. + +If you want to load another configuration file, click on the Select config file button and select the custom file with extension `.yaml`. + +Once selected, if it is in the correct format, the window will be updated with the new sensor information. The path to the custom configuration will also be saved in the default configuration file (`config.yaml`) to be loaded automatically each time the program is launched. + +> This can be cancelled by deleting the custom configuration path in the default `config.yaml` file. + +### Folder and file name of the test + +The other two fields in this section are used to indicate in which folder you want to generate the files containing the sensor readings and the name of these files. + +They will be saved in `.csv` format, either with the calibration data applied as well as in raw format (without applying any type of conversion to the sensor output data). + +## Control panel + +![Main GUI Section 2](../../images/docs_images/main_gui_section2.png) + +This section is the main core of the software and is divided into two parts. On the left is the control panel with various buttons. On the right is an area divided into three columns, with information from the list of sensors provided in the configuration file. + +When running the program, initially all the buttons on the control panel are disabled. This is because the sensors have to be connected beforehand. + +### Sensor connection + +To connect the sensors you must mark the ones you want to connect in the **Sensor information** table by clicking on the checkboxes. In case you do not want to connect a certain sensor that has a checkbox selected, simply deselect it by clicking on the checkbox again. + +Once marked, press the Connect sensors button. Depending on the type and number of sensors it will take some time to establish connection with all of them. + +Once a connection is established (or not) with the indicated sensors, the table will be updated with the status of each sensor with one of the following colours listed here: + +| Colour | Description | | +| :--- | :--- | +| `#808080` | No connection attempted. | +| `#ff0000` | No connection could not be established. | +| `#008000` | Connection successfully established. | + +If at least one sensor is connected and the requirements indicated on the control panel are met, the buttons will be enabled to start the tests. + +![Main GUI Section 2 - Sensors connected](../../images/docs_images/main_gui_section2_connected.png) + +### Control panel functions + +The control panel offers several functions as detailed below. + +#### Calibration of the connected sensors + +It is possible to calibrate the connected sensors by clicking on the `Calibrate cells` button. For more information, see the [Calibrate sensors](calibration_test.md) section. + +#### Execute sensor reading + +This would be the main process of the test. When the Start test button is pressed, the processes for each sensor are initiated, the `.csv` file header is set up, and the readings are recorded at the frequency defined in the [`general settings` section](../setup/config_file.md#general-settings) of the `config.yaml` file. + +> This process may take a few seconds depending on the number of sensors. When all processes have initialized, the Stop test button will be available. + +During the reading process the Tare sensors button will also be available to tare the loadcell and encoder type sensors. + +## Plot results + +![Main GUI Section 3](../../images/docs_images/main_gui_section3.png) + +*TODO* --- From 1df3d3c2bbcff50f858e3884ed82ce93624b3cc0 Mon Sep 17 00:00:00 2001 From: AaronPB Date: Mon, 26 Jun 2023 10:52:27 +0200 Subject: [PATCH 34/53] Load new docs images and fix table --- docs/features/general_test.md | 2 +- images/docs_images/main_gui_section1.png | Bin 0 -> 30652 bytes images/docs_images/main_gui_section2.png | Bin 0 -> 77929 bytes .../main_gui_section2_connections.png | Bin 0 -> 76759 bytes images/docs_images/main_gui_section3.png | Bin 0 -> 42500 bytes 5 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 images/docs_images/main_gui_section1.png create mode 100644 images/docs_images/main_gui_section2.png create mode 100644 images/docs_images/main_gui_section2_connections.png create mode 100644 images/docs_images/main_gui_section3.png diff --git a/docs/features/general_test.md b/docs/features/general_test.md index dcebdd9..eea9199 100644 --- a/docs/features/general_test.md +++ b/docs/features/general_test.md @@ -53,7 +53,7 @@ Once marked, press the Connect sensors button. 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