Introduction

Functions and characteristics
(1) The program inputs the drive torque and the revolving angle of the wheels, and indicates the results.
(2) The program saves the measured data with two methods, 'Manual Save' and 'Auto Save'. They output comma type files.
(3) The program picks up the data of one stroke, and calculates a speed, a locus, a power and other technical results.
(4) the program reads and indicates the measured data.

Needed files
(1) Microsoft Visual Basic 6.0 SP4iVB6jRuntime Library: In the case of the PC which is not instaled VB6, it is needed to setup the VB6 Runtime Library.
(2) CONTEC AIO Library and DIO Library (for A/D converter DIO board): The libraries can be downloaded at CONTEC Home page. The libraries are needed even if the CONTEC hardware is not used, because the program uses several functions of the libraries.
(3) Initial file and Calibration file (WchairMes.ini and WchairMes.clb): The files is read at the same directory of the executive file, when the program starts.

Contents of the Program
This program consists of (1) Main screen, (2) Calibration screen, (3) Calculated result screen, (4) File option screen, (5) Data view screen, (6) Borads setting screen and (7) Text screen.

Main Screen

(1) Menu function
Other screens such as the Calibration screen or the Calculated result screen, are shown with the click of the command buttons at the right on the Main screen.

(2) Monitoring
It can be confirmed to work the hardwares and the measuring timer suitably by the indicators at the right on the Main screen. The 'A/D Open' and the 'DIO Open' are indicated green, when the A/D converter and the DIO board work suitably. The 'Timer' is indicated red, when the measuring timer does not work. And it is indicated green, when the timer is working. Also, the indicator is yellow, when the setting condition of the timer is not satisfied on the responce of a computer or a software. If so, you need to set to a longer sampling time, or exit other softwares of the Windows. The 'Auto Save' and the 'Man. Save' are indicated green, when the each condition is set as saving mode.

(3) Setting of the measuring condition
The measuring condition is set by the input at the right on the Main screen. When the sampling time (more than 1 ms with 1 ms step) or the data numbers (less than 2000) are changed, the measuring time (sampling time x data numbers) changes. These values can be changed even if the measurement.

(4) Start and stop the measurement
The program starts measuring when the 'Start' command is clicked. It stops measuring when the 'Stop' command is clicked.

(5) Data save
In the program, there are two methods of the data saving mode. One is 'Auto Save' and another is 'Manual Save'. They are set by checking the boxes at the right on the Main screen. When the 'Auto Save' mode, the program renames the file name, and saves the data after one measurement (sampling time x data numbers) automatically. When the 'Manual Save' mode, the program stops after one measurement, and you need input the file name. The file name is set at the File option screen.

(6) Indicating the graphs
The program draws graphs after one measurement, or with reading the data. These graphs are the relation between the operating time and the torque, the speed, the locus, the moving distance, the turning angle, the angular velocity of the turning, and the power. In the angles, positive value is the left direction, and negative value is the right direction.

(7) Function key
Several function keys work fundamental movements and setting. Thus in the measurement, the PC can be operated without a mouse. 'F1 Key' works to change data save modes. 'F2 Key' work to decrease the data numbers. 'F3 Key' work to increase the data numbers. 'F4 Key' works to start the measurement. And 'F5 Key' works to stop the measurement.

Calibration Screen

Flowchart of the calibration
(1) Click the 'Timer ON' command, and start to work the A/D converter. The measuring voltage is shown at the screen.
(2) Click the 'Clear' of each channel (ch0 is the left wheel, ch1 is the right wheel), and clear the voltage data.
(3) Set the calibration system (an arm of 300 mm length and weights of 3.4, 1.7 kg), and adjust the calibrated torque (-25 to 25 Nm).
(4) Click the 'Set' of each calibrated torque, and indicate the voltage at the text screen. Also the measuring point is plotted at the graph. (When the 'Set' is clicks again, the voltage is clear.)
(5) After input all data, click the 'Calculation and Save' command.
(6) An approximate equation is calculated, and draw a line at the graph.
(7) The calibration file named WchairMes.clb is saved in the same directory of the executive file. Also, another file named 'date + time' is saved in the same directory of the saving files.
(8) Click the 'Timer OFF' command after the calibration.

Calibration of the Strain gages

Calculated Result Screen

Setting the calculated condition
The calculated condition, which are the staring time, the ending time and the distinction torque, is set at the right of the screen. The starting point is decided when the measured torque is over or under the distinction torque. As the condition of the distinction, you can sellect ch0, ch1 or Auto. In the case of the Auto mode, the starting point is distinguished from the torque that has the maximum torque in whole measuring torque. This program can calculate three continued strokes. If the data is re-culculated under other calculated condition, it is needed to read at the File view screen.

Drawing the graph
The grapg at the right of the screen shows the relation between the operating time and the torque. The vertical lines represent the starting points and the ending points. From the graph, you must judge if the calculated condition is sutable, or if the measuring data is sutable.

Indicating the data
The screen indicates many calculated results. From the left of upper screen, they are a cycle time per one stroke (sec), a distance per one stroke (m) and a revolving angle of the wheel per one stroke (degrees). Other text forms show the results of the sellected stroke, at the button at the left of the above results.

The maximum value, minimum value and the difference between the maximum and the minimum value of the turning angle (degrees), the angular velocity (degrees/sec) and the moving distance at the side direction, are indicated. Positive value is the left direction, and negative value is the right direction.

Also the maximum value, the average value, minimum value and the fluctuation ratio of the speed, the torque and the power, are indicated. The fluctuation is defined as (maximum-minimum)/average.

File Option Screen

Manual save
If the 'Manual Save' at the Main screen is checked, the File option screen is shown after one measurement. The file name and its directory are decided by the text forms at the left of the screen. The file name consists of an optional header, numbers and a decided enlargement (_dat.csv and _csv.csv). Two kinds of file are saved when the 'Save' is clicked. After the saving, the numbers of the file name plus one automatically.

Auto save
If the 'Auto Save' at the Main screen is checked, the files are saved as the file names of the text forms at the right of the screen. The File option screen is not shown at the 'Auto Save' mode. Also after the saving, the numbers of the file name plus one automatically.

Note
The text of the 'Note' is saved as one of the data of '***_dat.csv'.

Data View Screen

Boards Setting Screen

Text Screen

Data Format