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Set up actuator 2 with Saheed’s testing rig consisting of 0.508m metal arm attached to axis where load would be applied that corresponded to torque being applied on the gearbox + motor.
Set up active cooling using a fan
Connected axis to power supply, odrive and hal effect to input closed loop into arm when testing. Commands will be sent using CAN through the jetson.
First measurement: Actuator supports the weight horizontally at 90 degrees, record current
Second measurement: Actuator moves upwards using velocity control (2), stops at 0 degrees when limit switch is hit. (Ask Billy if we can get record continuous current reading from odrive
Third measurement: Actuator moves downwards using velocity control (2), stops at 90 degrees when limit switch is hit.
Current draw from Odrive is monitored from the power supply while current draw fro the motor would be examined from current probe
Test would first measure the current draw at static to just hold up the load, then velocity control of -2 would be applied and highest current draw would be taken
Test results:
