智能台灯LeLamp快速入门教程-舵机限位校准与测试

文章说明

• 本教程主要说明介绍如何进行舵机限位校准和测试

操作步骤

舵机限位校准

• 装配完整个舵机结构之后，就可以设置舵机的限位校准
• your_lamp_name为当前自己定义的设备名称， the_port_found_in_previous_step为当前驱动板的端口

$ uv run -m lelamp.calibrate --id your_lamp_name --port the_port_found_in_previous_step

• 启动程序，逐一转动舵机，确定舵机的左右方向的限位，在终端输出上可以看到具体数值，最大最小值和开始时的位置

$ cd ~/lelamp_ws/lelamp_runtime
$ uv run -m lelamp.calibrate --id lelamp1 --port /dev/ttyACM0

==================================================
FOLLOWER CALIBRATION
==================================================
INFO:__main__:Starting follower calibration for lamp ID: lelamp1 on port: /dev/ttyACM0
INFO:lelamp.follower.lelamp_follower:lelamp1 LeLampFollower connected.
INFO:lelamp.follower.lelamp_follower:
Running calibration of lelamp1 LeLampFollower
Move lelamp1 LeLampFollower to the middle of its range of motion and press ENTER....
Move all joints sequentially through their entire ranges of motion.
Recording positions. Press ENTER to stop...
 
-------------------------------------------
-------------------------------------------
NAME            |    MIN |    POS |    MAX
base_yaw        |   1623 |   2141 |   2473
base_pitch      |   1487 |   2002 |   2489
elbow_pitch     |   1418 |   2095 |   2708
wrist_roll      |   1546 |   2128 |   2731
wrist_pitch     |   1399 |   2161 |   2641
Calibration saved to /home/raspios/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp1.json
INFO:__main__:Leader calibration completed successfully
INFO:lelamp.leader.lelamp_leader:lelamp1 LeLampLeader disconnected.
 
==================================================
CALIBRATION COMPLETED SUCCESSFULLY
==================================================

• 校准完成好，校准文件会保存在目录/home/raspios/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/下

舵机测试

• 舵机测试的命令例程

$ uv run -m lelamp.test.test_motors --id your_lamp_name --port port_your_servo_driver_is_connected_to

• your_lamp_name为当前自己定义的设备名称， the_port_found_in_previous_step为当前驱动板的端口

• 舵机运行测试程序之后，舵机会转动你到你设置的限位值，然后解除扭矩控制

$ cd ~/lelamp_ws/lelamp_runtime 
$ uv run -m lelamp.test.test_motors --id lelamp1 --port /dev/ttyACM0 
Testing Motors Service...
Getting available recordings...
Available recordings: ['curious', 'excited', 'happy_wiggle', 'headshake', 'idle', 'nod', 'sad', 'scanning', 'shock', 'shy', 'wake_up']
Playing first recording: curious
Playback completed!
Motors Service test completed!