oplet write

Writes values to the FPGA / Gateware. The second parameter is written to the address of the FPGA specified by the first parameter. e.g. in DDE make_ins("w", 42, 64) writes the value 64 into the address 42 in the FPGA. If the address is ACCELERATION_MAXSPEED ( 5 ) then the maxSpeed and coupledAcceleration variables in DexRun will be updated. For higher level settings in the Firmware, see the 'S' oplet

Note: This represents the "virtual" address list as used by the 'w' command. The actual FPGA addresses have been changed since (TODO: get date) to use a keyhole window. DexRun.c on the TDInt branch still interprets 'w' commands with these addresses, but it translates them into the keyhole system.

Addr	Function	Description
0	BASE_POSITION	Motor position index
1	END_POSITON	...where the joint has been
2	PIVOT_POSITON	...commanded to go to
3	ANGLE_POSITON
4	ROT_POSITON
5	ACCELERATION_MAXSPEED	Acceleration [20:31] and max speed [0:19] (shared register)
6	BASE_SIN_CENTER	DC bias parameters
7	BASE_COS_CENTER	.. ADCCenters
8	END_SIN_CENTER
9	END_COS_CENTER
10	PIVOT_SIN_CENTER
11	PIVOT_COS_CENTER
12	ANGLE_SIN_CENTER
13	ANGLE_COS_CENTER
14	ROT_SIN_CENTER
15	ROT_COS_CENTER
16	PID_DELTATNOT	delta t not. Inverse of Delta t. 100,000KHz
17	PID_DELTAT	delta t. float * 0.0001 seconds
18	PID_D	PID Differential Term
19	PID_I	PID Integral Term
20	PID_P	PID Proportional Term
21	PID_ADDRESS	Sets the joint number for the above PID_ settings to be written into. Multiple sets are available for PID_SCHEDULE_INDEX
22	BOUNDRY_BASE	Maximum position past which the force position override will be reduced for each joint.
23	BOUNDRY_END	Injects a negative force opposing the external force to limit the amount the joint will move to avoid external forces.
24	BOUNDRY_PIVOT	The low boundary is [0:15] and the high boundary is [16:31]
25	BOUNDRY_ANGLE	Changed along with TDInt branch via a keyhole to make low and high boundary +-18 bits (19 bits total) each. Use "S" command to set boundaries, or the "B" command, instead of 'w' command.
26	BOUNDRY_ROT	"
27	SPEED_FACTORA	Multiplier (coefficient / master gain) for the force calculator. Allows quick adjustments.
28	SPEED_FACTORB	B not used.
29	FRICTION_BASE	Coefficient to scale the position error. Can be negative.
30	FRICTION_END	Feels like friction. Used in most modes, very important in follow mode.
31	FRICTION_PIVOT
32	FRICTION_ANGLE
33	FRICTION_ROT
34	MOVE_TRHESHOLD	Maximum force before joint 1,2,3 position starts changing. See follow mode.
35	F_FACTOR	Like SPEED_FACTORA, but for PID controller. Affects all joints at once.
36	MAX_ERROR	Speed limit for PID controller. Clips the velocity of the step signals going to the motor.
37	FORCE_BIAS_BASE	Adds to the force (position error) on each joint. Useful for removing the force of gravity.
38	FORCE_BIAS_END	Also used to provide haptic force feedback in teleoperation or VR systems.
39	FORCE_BIAS_PIVOT
40	FORCE_BIAS_ANGLE
41	FORCE_BIAS_ROT
42	COMMAND_REG	control state register. Bits: 0 CMD_CAPCAL_BASE 1 1 CMD_CAPCAL_END 2 2 CMD_CAPCAL_PIVOT 4 3 CMD_MOVEEN 8 4 CMD_MOVEGO 16 5 CMD_ENABLE_LOOP 32 6 CMD_CLEAR_LOOP 64 7 CMD_CALIBRATE_RUN 128 8 CMD_RESET_POSITION 256 9 CMD_RESET_FORCE 512 10 CMD_CAPCAL_ANGLE 1024 11 CMD_CAPCAL_ROT 2048 12 CMD_ANGLE_ENABLE 4096 13 CMD_ROT_ENABLE 8196 see cmd calc
43	DMA_CONTROL	Used to read and write tables and other large data objects. Bits: 0 DMA_WRITE_ENQUEUE 1 1 DMA_WRITE_INITIATE 2 2 DMA_READ_DEQUEUE 4 3 DMA_READ_BLOCK 8 4 DMA_RESET_ALL 16
44	DMA_WRITE_DATA
45	DMA_WRITE_PARAMS
46	DMA_WRITE_ADDRESS
47	DMA_READ_PARAMS
48	DMA_READ_ADDRESS
49	REC_PLAY_CMD 49	Bits: 0 CMD_RESET_RECORD 1 1 CMD_RECORD 2 2 CMD_RESET_PLAY 4 3 CMD_PLAYBACK 8 4 CMD_RESET_PLAY_POSITION
50	REC_PLAY_TIMEBASE
51	DIFF_FORCE_TIMEBASE	Timebase for PID and Force calculators. Depreciated
52	DIFF_FORCE_BETA	Scaling factor for boundaries for the differential
53	DIFF_FORCE_MOVE_THRESHOLD	Maximum force before joint 4, 5 position starts changing. See follow mode.
54	DIFF_FORCE_MAX_SPEED	Maximum speed the force calculator can generate. Like MAX_ERROR (but for force, not PID)
55	DIFF_FORCE_SPEED_FACTOR_ANGLE	Multiplier (coefficient / master gain) for the force calculator on J4. Like SPEED_FACTORA
56	DIFF_FORCE_SPEED_FACTOR_ROT	Multiplier (coefficient / master gain) for the force calculator on J5. Like SPEED_FACTORA
57	DIFF_FORCE_ANGLE_COMPENSATE	Unused.
58	FINE_ADJUST_BASE	Position offset to commanded joint angle into the PID. See PID_MOVE
59	FINE_ADJUST_END	Has the same effect as offsetting the error signal.
60	FINE_ADJUST_PIVOT	Allows moves to be made by the PID only vs the coupled acceleration calculator + PID
61	FINE_ADJUST_ANGLE	"
62	FINE_ADJUST_ROT	"
63	RECORD_LENGTH	Length of the recording to be played back
64	END_EFFECTOR_IO	Controls the configuration of the bits that go to the end effector. See End-Effectors
65	SERVO_SETPOINT_A	PWM value in PWM mode on end effector pins.
66	SERVO_SETPOINT_B	"
67	BASE_FORCE_DECAY	How hard the joint tries to return to the commanded position when the position
68	END_FORCE_DECAY	has been changed to avoid exceeding the maximum force.
69	PIVOT_FORCE_DECAY	Subtracts out the offset introduced by the force controller.
70	ANGLE_FORCE_DECAY	See Protect mode
71	ROTATE_FORCE_DECAY	"
72	PID_SCHEDULE_INDEX	Gain scheduling. Changes the offset to the PID parameters. Multiplies PID_ADDRESS. To quickly change settings.
73	GRIPPER_MOTOR_CONTROL	PWM output from 7 pin SIL connector on the side (near bottom) of the motor board. Just the first bit is used to enable / disable.
74	GRIPPER_MOTOR_OFF_WIDTH	"
75	GRIPPER_MOTOR_ON_WIDTH	"
76	START_SPEED	Starting speed into this move.
77	ANGLE_END_RATIO	Difference in the transmission ratios for the differential joint.
78	CMD2?	bit 0 resets PID_DELTA. Bit 1 is E_STOP? Set to all zero for normal operation.
79	PID?	Timebase Divisor
80	Physics J123?	Timebase Divisor
81	Physics J45?	Timebase Divisor