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Force and torque improvements by miika vuorio #15

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Force and torque improvements by miika vuorio #15

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rmatsuda
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MiikaVuorio added 30 commits July 5, 2024 10:04
@MiikaVuorio
Button based FT sensor target update
1356cab
@MiikaVuorio
Reverting some non functioning changes
d6798a8
@MiikaVuorio
addded positional argument to calledfrominvesaliusbutton
4ff6ebb
@MiikaVuorio
Updated CalledFromInvesaliusButton function
909b49e
@MiikaVuorio
force sensor testing
b3b3706
@MiikaVuorio
start-robot script update
6786feb
@MiikaVuorio
print statements for testing
6ea344a
@MiikaVuorio
added helpful print message for testing
0af4ad0
@MiikaVuorio
useful print and added display.py text
4736469
@MiikaVuorio
Added display z-force to display py
72c66ab
@MiikaVuorio
display z force in display script
35eb702
@MiikaVuorio
commented out some depracated print statements
69675c0
@MiikaVuorio
changes to test compensate_force
83343ee
@MiikaVuorio
added too much force correction into a transform variable
a041d1b
@MiikaVuorio
removed ineffective printe statement
fcf58bd
@MiikaVuorio
made a check to set force_transform to 0 when tracking is set off
82ec220
@MiikaVuorio
Removed old way of doing force compensation
f33ca25
@MiikaVuorio
moved self.force_transform
4abb68e
@MiikaVuorio
4mm adjustement upon sufficient z force added
de75aea
@MiikaVuorio
Added setting for excessive force adjust
1fd2a3d
@MiikaVuorio
updated updateexecssiveforcevar function
35c53c0
@MiikaVuorio
Finished excessive force adjust menu option
5383992
@MiikaVuorio
Force sensor normalization on initialization and downward movement in…
6f36f5c 
…itiation
@MiikaVuorio
Force compensation control logic and lateral shifting
4b9a390
@MiikaVuorio
made force compensation dynamic
fcaa070
@MiikaVuorio
removed testing print statement
cb37589
@MiikaVuorio
Removed non functioning intake of spin variable from invesalius
97ffca5
@MiikaVuorio
fixed compensate_force to run only once
0632ec2
@MiikaVuorio
reverting to back by 4mm version to show to Viktor
f7183ae
@MiikaVuorio
compensate_force_debugging
75bda12
MiikaVuorio and others added 30 commits August 22, 2024 14:24
@MiikaVuorio
fixing display.py
f265934
@MiikaVuorio
testing display.py
b791107
@MiikaVuorio
working concatanated z-force in display.py
c737a5b
@MiikaVuorio
fixed above min force detection
15f1e51
@MiikaVuorio
disabled insufficient force compensation for testing other things
5520be9
@MiikaVuorio
Added sending info of compensation to invesalius
4fa064a
@MiikaVuorio
testing different variable values
a914448
@MiikaVuorio
adding lack of force compensate
1a8e34b
@MiikaVuorio
updated for cleaner print statements
1359141
@MiikaVuorio
added insufficient compensate ready to setting objective to nothing
268aabe
@MiikaVuorio
deacresed wait time after arriving at target
5f26995
@MiikaVuorio
updated arrived at target counter to be 0
7bfc24f
@MiikaVuorio
better timing for insufficient force
6ed9f17
@MiikaVuorio
disabled normalization when compensating force
2f85c8f
@MiikaVuorio
Print statements for seeing if the distance measures make sense and i…
a9db4d5 
…f the compensation outward is outward or upward
@MiikaVuorio
fixed typo
69048ce
@MiikaVuorio
fixed other typo
40297f3
@MiikaVuorio
added distance filter for normalization
5280189
@MiikaVuorio
removed distance filter for normalization and testing if doing normal…
e4a8e14 
…ization only when robot not moving is sensible
@MiikaVuorio
version for maintaining force in certain value range
ba1220e
@MiikaVuorio
Created less printing stuff
e94b627
@MiikaVuorio
decreased force thresholds
39eb86c
@MiikaVuorio
Decreased the speed of compensating force
fc9c7ba
@MiikaVuorio
decrease max_force_compensate_displacement and how often adjustments …
355afac 
…are made
@MiikaVuorio
Decreased force range that is seeked
b0560a2
@MiikaVuorio
added z-force averaging
2ea1207
@MiikaVuorio
removed z_avg print line and decreased the thresholds in which it tri…
a52bee9 
…es to stay
@MiikaVuorio
increased max force compensate threshold
7547971
@MiikaVuorio
moved around stuff for prettier code
52589e3
@rmatsuda
Merge branch 'main' into pr/14
d668b30 
# Conflicts:
#	main_loop.py
#	robot/constants.py
#	robot/control/robot_control.py
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2 participants
@rmatsuda @MiikaVuorio