doc(esc): fix procedures, complete table

esc/esc_programming.tex

@@ -33,6 +33,7 @@
 \usepackage{booktabs}  % Better looking tables
 \usepackage[inline, marginclue]{fixme} % For fixme messages in text
 \fxsetup{theme=color}
+\usepackage{lscape} % Landscape
 
 % My custom packages (see ../style/)
 \usepackage{definitions}
@@ -61,28 +62,36 @@ Speed Controller (ESC) \jetispin. These settings must be configured using the
 the motor and provide the best reliability during the operation of the
 \MR.
 
-Normally the ESC settings should only be modified at the very beginning of the
-\MR design usage and should stay the same during all the experiments. This
-report is just a way to trace everything should we start all over again or
+Normally the ESC settings should only be modified during the calibration and
+initial setup of the \MR and should stay the same during all the experiments.
+This report is just a way to trace everything should we start all over again or
 re-use the ESC in a separate project.
 
 \section{Safety precautions}
-\danger The \jetibox automatically switches in Telemetry mode if it detects any
-input from the throttle. This means that \textbf{the engine will start as in
-regular conditions even when connected to the \jetibox, if the Arduino send
-any signal}.
+\danger The \jetibox automatically switches in telemetry mode when it detects
+any input from the throttle. This means that \textbf{if the Arduino send any
+  signal, the engine will start as in regular conditions even when connected to
+the \jetibox}.
 
 Connecting and using the \jetibox requires the operator to stand in direct
 vicinity of the motor. It is therefore of paramount importance to ensure that
 \begin{itemize}
-  \item \textbf{the motor axis is not linked to any moving element}
-(gearbox, wings), or
-\item \textbf{the motor cannot be turned on inadvertently},
-by disconnecting the signal output from the Arduino.
+  \item \textbf{the motor axis is not linked to any moving element} (gearbox,
+    wings), or
+  \item \textbf{the motor cannot be turned on inadvertently}, by disconnecting
+    the signal output from the Arduino.
 \end{itemize}
-Ideally both precautions should be followed in the same time.
+Ideally both precautions should be followed in the same time. Refer to the
+complete \MR Safety Assessment Report for further details.
 
-Please refer to the complete \MR Safety Assessment Report for further details.
+\subsection*{Danger zones}
+\textbf{The space in the rotation plane of the motor must be kept clear at all
+times}.
+
+The motor can spin at velocities above 6000 RPM. There is a real risk of parts
+being ejected from the housing or being caught up by the motor shaft.
+
+\fxwarning{Add zone schematics}
 
 
 \section{Telemetry}
@@ -93,12 +102,13 @@ tunnel\footnote{Not really needed/useful and not enough space to put the
 during the first programming steps of the ESC.
 
 \subsection{Safety procedure}
-The telemetry can be used in live on the operating motor to check all its
-parameters. \textbf{This is the most dangerous way of operation} as it requires
-both the motor to be running and the operator to stand close to the system. To
-ensure maximal safety, this should be reserved for analysing the motor in
-isolation on a test bench, not integrated in the \MR.
+The telemetry can be used to get direct measurements on the operating motor.
+\textbf{This is the most dangerous way of operation} as it requires both the
+motor to be running and the operator to stand close to the system. To ensure
+maximal safety, this should be reserved for analysing the motor in isolation on
+a test bench, not integrated in the \MR.
 
+The following safety procedure should be observed for use in telemetry mode:
 \begin{enumerate}
   \item Unmount the motor from the \MR and secure it to a test rig (a vice);
   \item Ensure the surroundings are clear of any loose object that may come
@@ -107,12 +117,12 @@ isolation on a test bench, not integrated in the \MR.
     not aligned with the motor lateral direction.
 \end{enumerate}
 
+It is also possible to plug the \jetibox to the ESC after a run is complete. In
+that case, the last motor run can be recovered and analyzed properly.
 
 \subsection{Telemetry procedure}
 To begin a test run using the \jetibox for telemetry:
 
-\fxwarning{Need review}
-
 \begin{enumerate}
   \item Ensure the safety precautions are all conducted.
   \item Connect the \jetibox to the ESC.
@@ -120,8 +130,8 @@ To begin a test run using the \jetibox for telemetry:
   \item Turn on the Arduino.
   \item Operate the motor as usual.
 \end{enumerate}
-
-\fxnote{Is there also a specific procedure for after-run analysis?}
+The same procedure can be applied for \textit{live} telemetry or after-run
+analysis.
 
 \section{ESC settings modifications}
 This section concerns the modifications of the ESC settings using the \jetibox.
@@ -144,14 +154,17 @@ start.
 
 \subsection{Setting procedure}
 
-\fxfatal{Write proper setting procedure}
 \begin{enumerate}
-  \item Connect
-  \item Connect
-  \item Turn on the power supply
+  \item Connect the \textbf{GND and VCC} wires from the Arduino to the ESC.
+    \newline
+    Make sure the data wire is \textbf{not} connected.
+  \item Connect the ESC to the motor.
+  \item Connect the \jetibox to the ESC.
+  \item Turn on the Arduino and the power supply (in that order).
   \item Navigate the menus using the arrows on the \jetibox\footnote{The diagram
       for the \jetibox menus is attached in appendix to ease navigation during
-    the settings.}
+    the settings.}. See also the \jetispin manual for explanation of all the
+    settings.
 \end{enumerate}
 
 Once everything is properly set, disconnect the power supply, the \jetibox, and
@@ -166,90 +179,89 @@ operation.
 
 \subsubsection{Auto Set}
 In automatic setting, the only parameter to set is the operating mode. As the
-\MR is supposed to flap at a constant frequency under varying loads, the
-\fxwarning*{Are we sure?}{most suitable operating mode is \textbf{HELI
-Const.RPM}}.
+\MR is supposed to flap at a constant frequency under varying loads, the most suitable operating mode is \textbf{Const.RPM}.
 
 This mode will ensure that the motor keeps the rotating speed imposed by the
 controller (Arduino) no matter the load it is subjected to.
 
-\textit{The automatic mode should only be employed for preliminary testing and
-validation of the prototype, not for the aerodynamic test campaign in the Wing
-Tunnel. In that case, the more precise manual mode should be preferred}.
+\textit{The automatic mode should only be employed for preliminary testing on an
+  isolated motor. The RPM limits set automatically are much higher than the ones
+  suitable for the flapping system. Any run on the actual model may cause
+serious damages to the model and potentially to any one around it.}
 
 \subsubsection{Manual Set}
 In manual mode, individual settings can be tweaked. The following table
 describes all the values that should be set for the proper operation of the
-engines in the \MR.
+motors in the \MR. All settings are properly described in the \jetispin user
+manual. The manual also contains recommendation for some of these settings.
 
 \textit{The setting procedure will be conducted following the diagram provided
 by \textsc{JETI}. As some settings are not part of the flowchart used for
 \MR, they will be left out (e.g., number of battery cells, etc.).}
 
-\fxfatal{Complete table}
-
+\begin{landscape}
 \begin{table}[ht]
-  \caption{Values for the manual settings}
+  \caption{Values for the manual settings. Color indicates values changed from
+  the defaults.}
   \label{tab:manualsettings}
   \begin{center}
-    \begin{tabular}{@{} p{0.22\linewidth}  p{0.2\linewidth}  p{0.55\linewidth}
-      @{}}
+    \begin{tabular}{@{} p{0.25\linewidth}  p{0.15\linewidth} p{0.1\linewidth}
+      p{0.48\linewidth} @{}}
       \toprule
-      \textbf{Setting} & \textbf{Value} & \textbf{Description} \\
+      \textbf{Setting} & \textbf{Value} & \textbf{Default} & \textbf{Comment} \\
       \midrule
-      \textbf{Temperature protection} &  &  \\
-      \hline
-      \textbf{Brake} &  &  \\
+      \textbf{Temp. protection} & \newval{90} & 100 & To be extra sure \\
       \hline
-      \textbf{Operation Mode} & Hell Normal & Could be Hell Auto or Hell
-      canst.RPM \\
+      \textbf{Brake} & \newval{Soft} & Off & Avoid abrupt changed \\
       \hline
-      \textbf{Motor pole No.} &  &  \\
+      \textbf{Operation Mode} & \newval{Constant RPM} & Normal & RPM must stay
+      constant for \MR \\
       \hline
-      \textbf{Gear} &  &  \\
+      \textbf{Motor Pole No.} & \newval{20} & 6  & Taken from Plettenberg data sheet \\
       \hline
-      \textbf{Set Max. Rotor RPM} &  &  \\
+      \textbf{Gear} & 1 & 1 & Must be kept to 1 to work properly with other
+      settings \\
       \hline
-      \textbf{Set Min. Rotor RPM} &  &  \\
+      \textbf{Set MaxRotor RPM} & \newval{2000} & 2000 & Corresponds to 3~Hz \\
       \hline
-      \textbf{Sensitivity} &  &  \\
+      \textbf{Set MinRotor RPM} & \newval{500} & 1000 & Lowest value possible \\
       \hline
-      \textbf{Autorotation} &  &  \\
+      \textbf{Sensitivity} & 04 & 04 & Unsure, keep default \\
       \hline
-      \textbf{Autorotation Acceleration} &  &  \\
+      \textbf{Autorotation} & Off & Off & Not needed as not proper helicopter\\
       \hline
-      \textbf{Timing Auto 0$^\circ$-30$^\circ$} &  &  \\
+      \textbf{Timing} & 0  & 0 & Unsure, kept default \\
       \hline
-      \textbf{Frequency} &  &  \\
+      \textbf{Frequency} & 8~kHz & 8~kHz & DO NOT CHANGE according to manual \\
       \hline
-      \textbf{Acceleration} &  &  \\
+      \textbf{Acceleration} & \newval{10~s} & 5~s & Very smooth start \\
       \hline
-      \textbf{Accumulator Type} & Direct Voltage & DC power supply \\
+      \textbf{Accumulator Type} & \newval{Direct Voltage} & LiPo & DC power
+      supply used \\
       \hline
-      \textbf{Off Voltage Set} &  & \\
+      \textbf{Off Voltage Set} & 11.99V & 11.99V & Not really useful with DC
+      power supply \\
       \hline
-      \textbf{Cut off} &  & \\
+      \textbf{Cut OFF} & Slow down & Slow down & Avoid abrupt change \\
       \hline
-      \textbf{Initial point auto} &  & \\
+      \textbf{Initial Point} & Auto & Auto & Unsure, kept default \\
       \hline
-      \textbf{End Point} &  & \\
+      \textbf{END Point} & 1.8~ms & 1.8~ms & Unsure, kept default \\
       \hline
-      \textbf{Auto inc. End point ON from...} &  & \\
+      \textbf{AutoInc.END Point} & 1.8~ms & 1.8~ms & Unsure, kept default \\
       \hline
-      \textbf{Throttle curve} &  & \\
+      \textbf{Throttle curve} & Linear & Linear & Not really useful here \\
       \hline
-      \textbf{Rotation} &  & \\
+      \textbf{Rotation} & Left & Left & Not really useful here (?) \\
       \hline
-      \textbf{Start-up Power} &  & \\
+      \textbf{Start-up Power} & Auto & Auto & Unsure, kept default \\
       \hline
-      \textbf{Timing Monitor} &  & \\
-      \hline
-      \textbf{Setting thru R/C} &  & \\
+      \textbf{Setting th. R/C} & Off & Off & Unsure, kept default \\
       \bottomrule
     \end{tabular}
   \end{center}
 \end{table}
-
+\end{landscape}
 
 
 \end{document}

style/definitions.sty

@@ -35,6 +35,7 @@
 \newcommand{\ie}{\latin{i.e.},\xspace}
 \newcommand{\eg}{\latin{e.g.},\xspace}
 \newcommand{\etal}{\latin{et~al.}\xspace}
+\newcommand{\newval}[1]{\textbf{#1}}
 
 
 % --- Pictograms ---------------------------------------------------------------