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.

Addr	Function
0	define BASE_POSITION
1	END_POSITON
2	PIVOT_POSITON
3	ANGLE_POSITON
4	ROT_POSITON
5	ACCELERATION_MAXSPEED
6	BASE_SIN_CENTER
7	BASE_COS_CENTER
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
17	PID_DELTAT
18	PID_D
19	PID_I
20	PID_P
21	PID_ADDRESS
22	BOUNDRY_BASE
23	BOUNDRY_END
24	BOUNDRY_PIVOT
25	BOUNDRY_ANGLE
26	BOUNDRY_ROT
27	SPEED_FACTORA
28	SPEED_FACTORB
29	FRICTION_BASE
30	FRICTION_END
31	FRICTION_PIVOT
32	FRICTION_ANGLE
33	FRICTION_ROT
34	MOVE_TRHESHOLD
35	F_FACTOR
36	MAX_ERROR
37	FORCE_BIAS_BASE
38	FORCE_BIAS_END
39	FORCE_BIAS_PIVOT
40	FORCE_BIAS_ANGLE
41	FORCE_BIAS_ROT
42	COMMAND_REG
79	PID?
80	Physics J123?
81	Physics J45?

#define ACCELERATION_MAXSPEED 5

// DC bias paramaters

// control state register #define COMMAND_REG 42 #define CMD_CAPCAL_BASE 1 #define CMD_CAPCAL_END 2 #define CMD_CAPCAL_PIVOT 4 #define CMD_MOVEEN 8 #define CMD_MOVEGO 16 #define CMD_ENABLE_LOOP 32 #define CMD_CLEAR_LOOP 64 #define CMD_CALIBRATE_RUN 128 #define CMD_RESET_POSITION 256 #define CMD_RESET_FORCE 512 #define CMD_CAPCAL_ANGLE 1024 #define CMD_CAPCAL_ROT 2048 #define CMD_ANGLE_ENABLE 4096 #define CMD_ROT_ENABLE 8196

//DMA #define DMA_READ_ADDRESS 48 #define DMA_READ_PARAMS 47 #define DMA_WRITE_ADDRESS 46 #define DMA_WRITE_PARAMS 45 #define DMA_WRITE_DATA 44 #define DMA_CONTROL 43

// DMA control bits breakdown

#define DMA_WRITE_ENQUEUE 1 #define DMA_WRITE_INITIATE 2 #define DMA_READ_DEQUEUE 4 #define DMA_READ_BLOCK 8 #define DMA_RESET_ALL 16

#define REC_PLAY_CMD 49 #define CMD_RESET_RECORD 1 #define CMD_RECORD 2 #define CMD_RESET_PLAY 4 #define CMD_PLAYBACK 8 #define CMD_RESET_PLAY_POSITION 16

#define REC_PLAY_TIMEBASE 50 #define DIFF_FORCE_TIMEBASE 51 #define DIFF_FORCE_BETA 52 #define DIFF_FORCE_MOVE_THRESHOLD 53 #define DIFF_FORCE_MAX_SPEED 54 #define DIFF_FORCE_SPEED_FACTOR_ANGLE 55 #define DIFF_FORCE_SPEED_FACTOR_ROT 56 #define DIFF_FORCE_ANGLE_COMPENSATE 57

#define FINE_ADJUST_BASE 58 #define FINE_ADJUST_END 59 #define FINE_ADJUST_PIVOT 60 #define FINE_ADJUST_ANGLE 61 #define FINE_ADJUST_ROT 62

#define RECORD_LENGTH 63

#define END_EFFECTOR_IO 64 #define SERVO_SETPOINT_A 65 #define SERVO_SETPOINT_B 66

#define BASE_FORCE_DECAY 67 #define END_FORCE_DECAY 68 #define PIVOT_FORCE_DECAY 69 #define ANGLE_FORCE_DECAY 70 #define ROTATE_FORCE_DECAY 71

#define PID_SCHEDULE_INDEX 72

#define GRIPPER_MOTOR_CONTROL 73 #define GRIPPER_MOTOR_ON_WIDTH 75 #define GRIPPER_MOTOR_OFF_WIDTH 74 #define START_SPEED 76 #define ANGLE_END_RATIO 77