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Commit ed4669cc authored by Jan-Gerrit Richter's avatar Jan-Gerrit Richter

hrtf measurements for head

parent 5645e658
......@@ -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',10, ...
'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('#%du1\r' , this.motorID));
motorControl.add_to_commandlist(sprintf('#%du3\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=20\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('#%dB0\r' , this.motorID));
motorControl.add_to_commandlist(sprintf('#%d:decel10\r' , this.motorID));
% Zero menas equal to acceleration ramp!
ret = true;
......
......@@ -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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