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Institute of Technical Acoustics (ITA)
toolbox
Commits
ed4669cc
Commit
ed4669cc
authored
Aug 17, 2017
by
Jan-Gerrit Richter
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hrtf measurements for head
parent
5645e658
Changes
2
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2 changed files
with
9 additions
and
9 deletions
+9
-9
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
...trol/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
+7
-7
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/test_itaEimarMotorControl.m
...ol/ClassStuff/itaMotorControl/test_itaEimarMotorControl.m
+2
-2
No files found.
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
View file @
ed4669cc
...
...
@@ -17,13 +17,13 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
sArgs_default_motor
=
struct
(
...
'wait'
,
true
,
...
'speed'
,
2
,
...
'speed'
,
3
,
...
'VST'
,
'adaptiv'
,
...
'limit'
,
true
,
...
'continuous'
,
false
,
...
'absolut'
,
true
,
...
'closed_loop'
,
false
,
...
'acceleration_ramp'
,
1
,
...
'acceleration_ramp'
,
1
0
,
...
'gear_ratio'
,
5
,
...
'current'
,
100
,
...
'ramp_mode'
,
2
,
...
...
...
@@ -45,7 +45,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
this
.
motorID
=
8
;
this
.
motorName
=
'HRTFArc'
;
this
.
motorLimits
=
[
-
15
375
];
% the motor can do a whole rotation + ~15 deg to both sides
this
.
motorLimits
=
[
-
20
380
];
% the motor can do a whole rotation + ~15 deg to both sides
end
function
this
=
init
(
this
)
...
...
@@ -108,7 +108,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% motorControl.add_to_commandlist(sprintf('#%dl%d\r' , this.motorID, 5154));
% set lower speed to 1 Hz/sec (lowest value)
motorControl
.
add_to_commandlist
(
sprintf
(
'#%du
1
\r'
,
this
.
motorID
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%du
3
\r'
,
this
.
motorID
));
end
...
...
@@ -297,9 +297,9 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Choose ramp mode: (0=trapez, 1=sinus-ramp, 2=jerkfree-ramp):
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:ramp_mode=%d\r'
,
this
.
motorID
,
this
.
sArgs_motor
.
ramp_mode
));
% % Set maximum acceleration jerk:
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:b=
1
\r'
,
this
.
motorID
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:b=
20
\r'
,
this
.
motorID
));
% % Use acceleration jerk as braking jerk:
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:B=0\r'
,
this
.
motorID
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:B=
2
0\r'
,
this
.
motorID
));
% Closed_loop?
%this.sArgs_motor.closed_loop = true; % DEBUG!
if
this
.
sArgs_motor
.
closed_loop
==
true
...
...
@@ -414,7 +414,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Set acceleration ramp directly
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d:accel%.0f\r'
,
this
.
motorID
,
this
.
sArgs_motor
.
acceleration_ramp
));
% Brake ramp:
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d
B
0\r'
,
this
.
motorID
));
motorControl
.
add_to_commandlist
(
sprintf
(
'#%d
:decel1
0\r'
,
this
.
motorID
));
% Zero menas equal to acceleration ramp!
ret
=
true
;
...
...
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/test_itaEimarMotorControl.m
View file @
ed4669cc
...
...
@@ -212,8 +212,8 @@ classdef test_itaEimarMotorControl < itaMeasurementTasksScan
preAngleTime
=
2
/
64
*
numRepetitions
;
% it takes 2 seconds to start recording
preAngle
=
preAngleTime
*
speed
;
preAngle
=
min
(
preAngle
,
15
);
preAngle
=
max
(
preAngle
,
8
);
preAngle
=
min
(
preAngle
,
20
);
preAngle
=
max
(
preAngle
,
20
);
numTotalRepetitions
=
numRepetitions
+
ceil
(
preAngleTime
/(
timePerRepetition
))
+
9
;
this
.
measurementSetup
.
repetitions
=
numTotalRepetitions
;
...
...
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