In this chapter we assume that you have a working MCA and Head-Project installation. (Preferably tested with a already working head)

5.1.2 Preperation

The Attribute-Tree that configures the encoder and motor settings is located at: ~mca2.4/project/armar3/etc/can.AttributeTree

Changes to this file will only be applied after the dsp_control_part is restarted using stopcans and startcans. As an alternative, mcabrowser can be used to change the values in the corresponding group. Values changed with the browser have to be entered in the can.AttributeTree in order to be persistent.

Identify the secion of can.AttributeTree which corresponds to the joints that move in the wrong direction. The file is organized following the DSP ids from the CAN interface.
Identify the motor id of the joint: Check the MappingTable entry in the section of AttributeTree corresponding to the joint. The first entries map each motor (A,B,C) to a joint name. Remember the motor id (A,B or C).
Assure that all Set Joint Moving Direction entries in the can.AttributeTree are set to 0x0.

5.1.3 Setup encoder count direction

A wrong encoder count direction will result in an incomplete reset procedure. In order to determine whether you are facing this problem, set the values Reset Offset of the joint the behaves unexpected to 0.

Then reset the joint using the HEAD_COMMAND.mcagui.

If the joint does not move towards the joint limit, the encoder direction is not correct. Change the encoder count direction by adjusting Revert Encoder Countdir in the AttributeTree:

The revert encoder countdir bitmask is organized in the following way:

bit (LSB first)	0	1	2	3	4	5
encoder	axis A	motor A	axis B	motor B	axis C	motor C

If the joint does still not move during reset, increase the absolute value of the Reset PWM setting of the corresponding joint, carefully. Too high PWM settings will damage the motor

5.1.4 Setup correct reset PWM direction

Invert the sign of Reset PWM if one joint does not reset in the correct direction:

The joints should reset in the following directions (looking at the head from the front):

neck pitch: front
neck roll: right
neck yaw: left
neck tilt: up
eye tilt: up
left eye pan: left
right eye pan: left

5.1.5 Setting up the reset offsets

Reset offsets move the joints to the initial position after the reset procedure reached the joint limit.

The direction of the reset offset is crucial for the initialization of the head.

Start with a low Reset Offset setting in the AttributeTree (e.g. 500) and reset the joint. If the joint does not move away from the joint limit press the emergency stop. Afterwards invert the reset offset.

If the reset offset points to the correct direction, increase the value until the joint is in the desired initial position after reset.

5.1.6 Setting up joint limits

The joint limit settings are crucial to protect the head from hitting the limits and motor damage.

In order to setup the joint limits perform the following steps:

Start and reset the head
Press emergency stop
Start mcabrowser and navigate to virtual MainGroup -> <DSP-Head> -> DSP-Head. Click on SensorOutput and activate Auto-Update.
Manually move each joint towards the joint limits to determine minimal and maximal joint positions for the joint.
Use these settings (maybe a little bit lower) for the entry _JOINTNAME_ Max Position and _JOINTNAME_ Min Position in the can.AttributeTree

5.2 Adapt angle to impuls factors

5.2.1 Preconditions

This section assumes that you have configured the Reset Encoder Coundir, Set Joint Moving Direction and Reset PWM values as explained in the previous section.

Changes to be done in file: ~/mca2.4/project/armar3/action/control/Armar3Definitions.cpp

The changes will only be applied if project is recompiled and head is restarted.

5.2.2 Setup direction of angle2impuls

The angle2impuls values determine in which direction the joints will move when controlled from the robot_interface or from within the mcagui.

Start and reset the head.
Start the control gui with mcagui HEAD_GUI.mcagui
Select Direct Kinematics, Execution Toggle and Head Manual
Move each joint by using the sliders. If the sliders are moved in positive direction, the joints should move according to the followng table (looking at the head from the front):

Joint	Direction
neck pitch	down
neck roll	left
neck yaw	left
neck tilt	down
eye tilt	up
eye left pan	right
eye right pan	right

For each joint that moves in a different direction, invert the sign of corresponding angle2impuls factor in Armar3Definitions.cpp:

tDataType Armar3::angle2impuls_factors_head[] = {
  302.22*RADIAN2DEGREE,  // neck pitch
  302.22*RADIAN2DEGREE,  // neck roll
  151.11*RADIAN2DEGREE,  // neck yaw
  311.0*RADIAN2DEGREE,   // neck tilt
  339.85*RADIAN2DEGREE,  // eye tilt
  -258.74*RADIAN2DEGREE, // eye pan left
  -258.74*RADIAN2DEGREE  // eye pan right
};

5.2.3 Calibrate Angle2Impuls factors

The procedure for angle2impuls calibration is explained here: FIXME.

5.3 Check movement directions

5.3.1 Preconditions

The head should be correctly setup as described in the previous sections, started and all joints reset.

5.3.2 Check joint directions

Start and reset the head.
Start the control gui HEAD_GUI.mcagui
Select Direct Kinematics, Execution Toggle and Head Manual
Move each joint by using the sliders. If the sliders are moved in positive direction, the joints should move according to the followng table (looking at the head from the front):

Joint	Direction
neck pitch	down
neck roll	left
neck yaw	left
neck tilt	down
eye tilt	up
eye left pan	right
eye right pan	right

5.3.3 Check eyes

Use kinematic mode Inv. Kin (Only Eyes)
Set 3D Coordinate Input to X=0, Y=250, Z=174. Eyes should look towards the “nose”, tilt should be straight.
Increase the Y value. Eyes should look less towards the “nose”.
Increase the Z value. Eyes should look up.
Increase the X value. Eyes should look to the left (looking the head in the face).

5.3.4 Check neck pitch, tilt and yaw

Use kinematic mode ‘’Inv. Kin (First 3 DOF)’’
Set 3D Coordinate Input to X=0, Y=1000, Z=174. Eyes should look towards the “nose”, otherwise straight.
Increase Z value to 300. Head should look up.
Increase X value to 300. Head should look left (looking the head in the face).

In the file there is en entry for each joint specifying the rotation axis:

DEF (JOINT_NAME) Transform {
             rotation x y z 1
}

In order to invert the moving direction of one joint in visualization, invert the value of x,y or z (depending on the joint).

Restart the GUI in order to see the changes.

Karlsruhe Head Documentation

5 Setup a new head

5.1 Configure AttributeTree

5.1.1 Preconditions