Config File

Settings section

settings: 
  custom_config_path: null 
  test: 
    name: Name 
    folder_path: /tests/ 
    results: 
      save_raw: true 
      save_calib: true 
  recording: 
    data_interval_ms: 10 
    tare_data_amount: 300 
  calibration: 
    data_interval_ms: 10 
    data_amount: 300

Information of all the keys involved in this config section:

Key	Type	Description
`custom_config_path`	STRING	Custom config to load instead of this default config. Set to `null` if the default config is needed.
`test.name`	STRING	Name of the generated `csv` files.
`test.folder`	STRING	Path to desired folder where the `csv` files will be saved.
`test.results.save_raw`	BOOL	Save file without calibrated values. A `_RAW` suffix will be added to the file name.
`test.results.save_calib`	BOOL	Save file with calibrated values defined in `config`.
`recording.data_interval_ms`	INT	Data recording frequency (in ms).
`recording.tare_data_amount`	INT	Amount of values to be recorded during tare process.
`calibration.data_interval_ms`	INT	Data recording frequency (in ms).
`calibration.data_amount`	INT	Amount of values to be recorded during calibration.

Sensor groups section

Define sensor combinations, even from different types!

sensor_groups: 
  platform_1: 
    name: Platform 1 
    type: GROUP_PLATFORM 
    read: true 
    sensor_list: 
    - p1_z1 
    - p1_z2 
    - p1_z3 
    - p1_z4 
    - p1_x1 
    - p1_x2 
    - p1_x3 
    - p1_x4 
    - p1_y1 
    - p1_y2 
    - p1_y3 
    - p1_y4

Warning

All listed sensors needs to be configured in the sensors config section.

Using the same sensors in multiple sensor groups is not recommended.

Information of all the keys involved in this config section:

Key	Type	Description
`platform1`	STRING	ID of group section.
`name`	STRING	Group name.
`type`	STRING	Group type: `GROUP_DEFAULT` or `GROUP_PLATFORM`.
`read`	BOOL	Enable or disable entire group data recording. Can be modified in GUI.
`sensor_list`	LIST	A string list of sensor IDs, configured in `sensors` config section.

Platform groups

Configure a platform with the GROUP_PLATFORM type. This group type only expects SENSOR_LOADCELL type sensors, with a maximum of 12 (4 sensors on each axis).

To obtain platform graphs such as total forces or COP values; sensors must have the following strings included in their names:

The 4 X-axis sensors: _X_n.
The 4 Y-axis sensors: _Y_n.
The 4 Z-axis sensors: _Z_n.

Being \(n = \{1, 2, 3, 4\}\) depending on the sensor location in the platform:

platform

Calibration sensors section

Declare here a valid reference sensor for each calibration process.

sensors_calibration: 
  phidget_loadcell_reference: s_type 
  platform_reference: triaxial

Warning

All sensors needs to be configured in the sensors config section and match the required sensor type.

Information of all the keys involved in this config section:

Key	Type	Description
`phidget_loadcell_reference`	STRING	Sensor ID of type `SENSOR_LOADCELL`.
`platform_reference`	STRING	WIP Sensor ID of type `SENSOR_TRIAXIAL_LOADCELL`.

Sensors section

This section contains all the sensors that will be used in the previous sections.

sensors: 
  p1_z1:

Depending on the sensor type, a specific set of parameters is required. Below are the available parameters for each sensor type.

Loadcell sensor

p1_z1: 
  name: P1_LoadCell_Z_1 
  type: SENSOR_LOADCELL 
  read: true 
  connection: 
    channel: 0 
    serial: 583477 
  properties: 
    serial_number: Y2131167 
    max_weight: 150kg 
  calibration: 
    slope: 148893.5596545 
    intercept: -0.6307595051800341

Required keys information:

Key	Type	Description
`p1_z1`	STRING	Sensor ID.
`name`	STRING	Sensor name.
`type`	STRING	Sensor type: `SENSOR_LOADCELL`.
`read`	BOOL	Enable or disable sensor data recording. Can be modified in GUI.
`connection.channel`	INT	Channel number (0 to 3) in Phidget device.
`connection.serial`	INT	USB serial number of Phidget device.
`properties`	-	(Could be empty) Configuration section where you can provide more information.
`calibration.slope`	INT	Slope parameter.
`calibration.intercept`	INT	Intercept parameter.

Encoder sensor

encoder_1: 
  name: Encoder_Z_1 
  type: SENSOR_ENCODER 
  read: true 
  connection: 
    channel: 0 
    serial: 641800 
  initial_position: 0 
  properties: 
    serial_number: AAAA 
    max_length: 2500mm 
  calibration: 
    slope: 0.01875 
    intercept: 0.0

Required keys information:

Key	Type	Description
`encoder_1`	STRING	Sensor ID.
`name`	STRING	Sensor name.
`type`	STRING	Sensor type: `SENSOR_ENCODER`.
`read`	BOOL	Enable or disable sensor data recording. Can be modified in GUI.
`connection.channel`	INT	Channel number (0 to 3) in Phidget device.
`connection.serial`	INT	USB serial number of Phidget device.
`initial_position`	INT	The initial value of the encoder state. The sensor generates incremental values.
`properties`	-	(Could be empty) Configuration section where you can provide more information.
`calibration.slope`	INT	Slope parameter.
`calibration.intercept`	INT	Intercept parameter.

IMU sensor

imu_1: 
  name: IMU_Leg_Right 
  type: SENSOR_IMU 
  read: true 
  connection: 
    serial: /dev/serial/by-path/pci-0000:00:14.0-usb-0:1.1.4.3:1.0-port0 
  properties: 
    tag: IMU_1

Required keys information:

Key	Type	Description
`imu_1`	STRING	Sensor ID.
`name`	STRING	Sensor name.
`type`	STRING	Sensor type: `SENSOR_IMU`.
`read`	BOOL	Enable or disable sensor data recording. Can be modified in GUI.
`connection.serial`	STRING	Absolute USB path. Use `ll /dev/serial/by-path/`.
`properties`	-	(Could be empty) Configuration section where you can provide more information.