ATI Force Torque Sensors - Revision history

Advaitjain: /* Models Used */

2010-06-23T12:59:12Z

‎Models Used

Advaitjain: /* Models Used */

2010-06-23T12:53:06Z

‎Models Used

Advaitjain: /* Models Used */

2010-06-23T12:51:12Z

‎Models Used

Advaitjain: /* Models Used */

2010-06-23T12:49:05Z

‎Models Used

Advaitjain: /* Models Used */

2010-06-23T12:48:34Z

‎Models Used

Haidai at 22:54, 1 February 2010

2010-02-01T22:54:03Z

Haidai at 18:28, 29 November 2009

2009-11-29T18:28:00Z

Haidai at 18:26, 29 November 2009

2009-11-29T18:26:32Z

Haidai: /* Changing the Baudrate with Minicom */

2009-11-29T18:23:56Z

‎Changing the Baudrate with Minicom

Haidai: Created page with '== Changing the Baudrate with Minicom == Our driver for the ATI force torque sensors needs to know the baudrates of the controller boxes. To set the controller boxes' baudrates …'

2009-11-29T18:22:42Z

Created page with '== Changing the Baudrate with Minicom == Our driver for the ATI force torque sensors needs to know the baudrates of the controller boxes. To set the controller boxes' baudrates …'

New page

== Changing the Baudrate with Minicom ==
Our driver for the ATI force torque sensors needs to know the baudrates of the controller boxes. To set the controller boxes' baudrates to the desired settings, we use minicom in Ubuntu Linux. Below are the steps needed to do so:
* Install and launch minicom with:
sudo apt-get install minicom
minicom
* Change the serial communication settings by typing Ctr-A Z, o, "Serial port setup", set
** "Serial Device"
** Hardware flow control to off
** Software flow control to off
** the expected default baudrate. New ATI controller boxes have a baudrate of 9600. If you don't know what the baudrate is, guess.
* Select "Save setup as dfl", then exit minicom and start it again.
* Now you should see a prompt:
>
* Try typing 'CB'. You should now see your current baudrate printed out:
Baud Rate = 115200
* If you see garbage characters then you are probably connected using an incorrect baudrate.
* If all is well, set your desired baudrate with 'CB <YOUR_BAUDRATE>':
CB 19200
* Change your minicom default settings to connect with this new baudrate, then restart minicom.
* After restarting, you should have a command prompt similar to before. Try executing 'CB' again to make sure that your settings are still correct. Then save your settings to the controller boxes' memory by executing:
RS

@@ Line 1: / Line 1: @@
 == Models Used ==
-* EL-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration. We use this sensor with the FT Controller box. This lets us get data from the sensors using a usb to serial converter and python code that we have written.
+* EL-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration. We use this sensor with the Controller FT system. This lets us get data from the sensors using a usb to serial converter and python code that we have written.
 * Cody: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration. Meka has integrated this sensor into the ethercat bus on their torso. We get data using libraries supplied by Meka.

@@ Line 1: / Line 1: @@
 == Models Used ==
-* Cody: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration.
+* EL-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration. We use this sensor with the FT Controller box. This lets us get data from the sensors using a usb to serial converter and python code that we have written.
-* EL-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration.
+* Cody: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration. Meka has integrated this sensor into the ethercat bus on their torso. We get data using libraries supplied by Meka.
 [[Media:ATI_FT_commands_manual.pdf | ATI FT Commands Manual]]

← Older revision		Revision as of 12:51, 23 June 2010
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	[[Media:ATI_FT_commands_manual.pdf \| ATI FT Commands Manual]]		[[Media:ATI_FT_commands_manual.pdf \| ATI FT Commands Manual]]
		+
		+	== Code ==
		+	* [http://code.google.com/p/gt-ros-pkg/source/browse/#svn/trunk/hrl/force_torque force_torque] ROS package.

	== Changing the Baudrate with Minicom ==		== Changing the Baudrate with Minicom ==

@@ Line 1: / Line 1: @@
 == Models Used ==
 * Cody: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration.
-* El-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration.
+* EL-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration.
 [[Media:ATI_FT_commands_manual.pdf | ATI FT Commands Manual]]

@@ Line 1: / Line 1: @@
 == Models Used ==
-* Mekabot: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration.
+* Cody: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration.
 * El-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration.

← Older revision		Revision as of 22:54, 1 February 2010
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		+	== Models Used ==
		+	* Mekabot: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40 ATI Mini40] - with the SI-80-4 calibration.
		+	* El-E: [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 ATI Nano25] - with the SI-125-3 calibration.
		+
	[[Media:ATI_FT_commands_manual.pdf \| ATI FT Commands Manual]]		[[Media:ATI_FT_commands_manual.pdf \| ATI FT Commands Manual]]

@@ Line 1: / Line 1: @@
-[[File:ATI_FT_commands_manual.pdf]]
+[[Media:ATI_FT_commands_manual.pdf | ATI FT Commands Manual]]
 == Changing the Baudrate with Minicom ==
 Our driver for the ATI force torque sensors needs to know the baudrates of the controller boxes.  To set the controller boxes' baudrates to the desired settings, we use minicom in Ubuntu Linux.  Below are the steps needed to do so:
@@ Line 22: / Line 23: @@
    RS
 * If you want to confirm, then power cycle your controller boxes and make sure that you can still connect with the new baudrate.
-* Refer to the command manual for more information ([[File:ATI_FT_commands_manual.pdf]])
+* Refer to the command manual for more information ([[Media:ATI_FT_commands_manual.pdf | ATI FT Commands Manual]])

← Older revision		Revision as of 18:23, 29 November 2009
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	* After restarting, you should have a command prompt similar to before. Try executing 'CB' again to make sure that your settings are still correct. Then save your settings to the controller boxes' memory by executing:		* After restarting, you should have a command prompt similar to before. Try executing 'CB' again to make sure that your settings are still correct. Then save your settings to the controller boxes' memory by executing:
	RS		RS
		+	* If you want to confirm, then power cycle your controller boxes and make sure that you can still connect with the new baudrate.