oplet write

Writes values to the FPGA / Gateware and in some cases also sets variables in the firmware. The second parameter (the value) is written to the address of the FPGA specified by the first parameter. Or if you like, the first parameter is the address, the second is the value to be written to that address. e.g. w 42 64 writes the value 64 into the address 42 in the FPGA. Some addresses are also "tracked" by the C firmware (DexRun) for example, w 5 6516872 writes a new value to FPGA register #5, ACCELERATION_MAXSPEED but the 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" to reduce the number of mapped addresses used by the FPGA. In the keyhole system, one address in a block will select what the next address actually changes. DexRun.c on the TDInt branch still interprets 'w' commands with these addresses, but it translates them into the keyhole system.

Addr	Purpose	Description
0	BASE_POSITION	J1 Motor position index
1	END_POSITON	J2 ...where the joint has been
2	PIVOT_POSITON	J3 ...commanded to go to
3	ANGLE_POSITON	J4
4	ROT_POSITON	J5
5	ACCELERATION_MAXSPEED	Acceleration [20:31] and max speed [0:19] (shared register)
6	BASE_SIN_CENTER	J1 DC bias parameters
7	BASE_COS_CENTER	J1 .. ADCCenters
8	END_SIN_CENTER	J2
9	END_COS_CENTER	J2
10	PIVOT_SIN_CENTER	J3
11	PIVOT_COS_CENTER	J3
12	ANGLE_SIN_CENTER	J4
13	ANGLE_COS_CENTER	J4
14	ROT_SIN_CENTER	J5
15	ROT_COS_CENTER	J5
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 in Floating point
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	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