Add new page Calibration type 10 details (#354)

Co-authored-by: Ugo Pattacini <ugo.pattacini@iit.it>

docs/robot_calibration_types/amo_encoder_joint_calibration_10_details.md

@@ -0,0 +1,20 @@
+# Calibration type 10 details - AMO Encoder Joint Calibration
+
+This section illustrates the details of the calibration procedure used for the `iCub 3/ergoCub` joints that mount an AMO encoder at the slow shaft.
+As already detailed in the [`calibration-10-procedure`](./standard_calibration_types.md/#calibration-10) joints provided with the `AMO` encoder are currently calibrated so that it can be handled as an incremental encoder coupled with a quadrature encoder placed at the motor.
+
+## Calibration workflow
+
+Complete pipeline for the `calibration type 10` using `AMO encoder` at joint and `quadrature encoder` at motor.
+<p align="center">
+    <img  src="../img/calibration-amo-abs-enc.png" width="700">
+</p>
+
+As you can see in the above-reported state machine, after the calibration command is received by the EMS, a timer of 30 seconds gets triggered; afterward, we wait until the motor encoder calibration ends; finally, the calibration procedure 10 commences.
+
+The procedure basically consists in moving the slow shaft towards one of the hardware limits as defined in the position set within the calibration parameter `calibrationZero`. The value of the PWM used is in turn defined through the parameter `calibration1`. The joint moves until the limit is reached within a time window and within a predefined maximum length, whose values are coded in the firmware.
+
+Finally, if the `hard-stop` limit position is found before the `CALIBRATION TIMEOUT` expires, the zero of the `AMO encoder` is updated with the found offset and the whole calibration completes correctly; otherwise, the joint is moved to the `NOT CONFIGURED` state, the PWM is set to `zero` and the motor switched to `IDLE`.
+
+The FW verifies if the joint has reached the hard position by checking that the encoder position does not change for 1 second, meaning that the relative increase of joint position is smaller than 6.5 deg (1200 iCubDegrees) within 1 second. The encoder position considered for the check is processed to filter out the spikes.
+

docs/robot_calibration_types/standard_calibration_types.md

@@ -140,6 +140,8 @@ This calibration is used for joints with relative encoders, which are calibrated
 
 Regarding iCub 3 and the AMO boards, the AMO magnetic target is subdivided into 64 or 32 sectors. The AMO sensor provides a 14-bit resolution per sector, for a total of 14+6=20 or 14+5=19 bits per revolution resolution, respectively. The `Gearbox_E2J` parameter must be configured with the number of sectors in the corresponding `mechanicals/part-mec.xml` file.
 
+Further details of how the workflow of the whole calibration type 10 is managed are outlined on [this page](./amo_encoder_joint_calibration_10_details.md).
+
 |   |   |
 |---|---|
 |`Calibration type`| 10|

mkdocs.yml

@@ -277,6 +277,7 @@ nav:
         - iCub 3 Stator-Rotor auto-calibration: icub_robot_calibration/icub3-stator-rotor-autocalibration.md
       - Calibration Types:
         - Standard Calibration types: robot_calibration_types/standard_calibration_types.md
+        - AMO Encoder joint calibration type 10 details: robot_calibration_types/amo_encoder_joint_calibration_10_details.md
         - iCub 3 Calibration types: robot_calibration_types/icub3_calibration_types.md
       - Robot Configuration:
          - Summary: icub_robot_configuration/icub_robot_configuration_index.md