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.

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
19	PID_I
20	PID_P
21	PID_ADDRESS
22	BOUNDRY_BASE	Force
23	BOUNDRY_END	Force
24	BOUNDRY_PIVOT	Force
25	BOUNDRY_ANGLE	Force
26	BOUNDRY_ROT	Force
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	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	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
52	DIFF_FORCE_BETA
53	DIFF_FORCE_MOVE_THRESHOLD
54	DIFF_FORCE_MAX_SPEED
55	DIFF_FORCE_SPEED_FACTOR_ANGLE
56	DIFF_FORCE_SPEED_FACTOR_ROT
57	DIFF_FORCE_ANGLE_COMPENSATE
58	FINE_ADJUST_BASE
59	FINE_ADJUST_END
60	FINE_ADJUST_PIVOT
61	FINE_ADJUST_ANGLE
62	FINE_ADJUST_ROT
63	RECORD_LENGTH
64	END_EFFECTOR_IO
65	SERVO_SETPOINT_A
66	SERVO_SETPOINT_B
67	BASE_FORCE_DECAY
68	END_FORCE_DECAY
69	PIVOT_FORCE_DECAY
70	ANGLE_FORCE_DECAY
71	ROTATE_FORCE_DECAY
72	PID_SCHEDULE_INDEX
73	GRIPPER_MOTOR_CONTROL
74	GRIPPER_MOTOR_OFF_WIDTH
75	GRIPPER_MOTOR_ON_WIDTH
76	START_SPEED
77	ANGLE_END_RATIO
78	???
79	PID?	Timebase Divisor
80	Physics J123?	Timebase Divisor
81	Physics J45?	Timebase Divisor