set parameter oplet

High level Parameters in the Dexter Firmware are set with the "S" Oplet. For direct control of low level FPGA parameters, see the "w" Oplet

#	Name	Default / Range	DDE / Socket Units	Socket Type	Description
0	MaxSpeed	30 / 0.001-45	deg/s / nbits	integer	Maximum velocity of next move in "nbits"1. Default is 250000. See also StartSpeed below.
1	Acceleration	0.0001 / 0.0001 - 0.1	deg/s2 / nbits	integer	Maximum acceleration of next move in "nbits"1. Default is 3.
2	J1Force				How hard each joint tries to return to commanded position in force protect modes
3	J3Force
4	J2Force
5	J4Force
6	J5Force
7	J1Friction	5 / 0-50	unitless	fixed point?	2 The friction felt during FollowMe mode
8	J3Friction	5 / 0-50	unitless	fixed point?
9	J2Friction	5 / 0-50	unitless	fixed point?
10	J4Friction	15 / 0-150	unitless	fixed point?
11	J5Friction	15 / 0-150	unitless	fixed point?
12	J1BoundryHigh	180 / -180-180	deg / arcsec	integer	Set all Boundaries at once with "B" Oplet
13	J1BoundryLow	180 / -180-180	deg / arcsec	integer
14	J3BoundryHigh	180 / -180-180	deg / arcsec	integer
15	J3BoundryLow	180 / -180-180	deg / arcsec	integer
16	J2BoundryHigh	180 / -180-180	deg / arcsec	integer
17	J2BoundryLow	180 / -180-180	deg / arcsec	integer
18	J4BoundryHigh	180 / -180-180	deg / arcsec	integer
19	J4BoundryLow	180 / -180-180	deg / arcsec	integer
20	J5BoundryHigh	180 / -180-180	deg / arcsec	integer
21	J5BoundryLow	180 / -180-180	deg / arcsec	integer
22	GripperMotor	0/0-1, 0/0-12000, 0/0-12000	ON/OFF, ON_PWM, OFF_PWM	bool, int, int	Set PWM output on J19 1st parameter starts PWM with 1, stop with 0. After 2019/05/23: 2nd parameter is PWM on time, 3rd is off time. See W commands 73 - 74.
23	EERoll	512 / 0~1023	deg / 0.29*deg		6th axis position / Tool Interface Roll (was standard servo, May 29,2018 changed to Dynamixel)
24	EESpan	0 / 0~1023	deg / 0.29*deg		7th axis position / End Effector actuation (was standard servo, May 29,2018 changed to Dynamixel)
25	StartSpeed				Velocity at start (and currently, the end as well) of the next move in "nbits"1
26	EndSpeed				(not implemented) Currently StartSpeed is the speed for both the start and end of each move.
27	ServoSet2X				Address, Register, Value (as of 2018/05/29 was "End") see: Servo
28	ServoSet
29	RebootServo				2018/05/29
30	RunFile				FilePathName 2018/10/12 If it exists, the file will be opened and all instructions from it parsed and executed. By convention, files end with .make_ins extension. Each line should be one instruction just like any sent over the socket connection (the job, instruction, start, and end time values are NOT included; start with the oplet). A sample line might be S J1_PID_P 0.2 ; set base drive Anything after a ';' is ignored allowing comments. Was 2018/08/24 "Ctrl" parms/values for compact setting of values related to operational mode but this was depreciated and replaced with RunFile.
31	J1_PID_P	0.2 / 0 - 1	unitless	float	Float Oct 12, 2018 Set Joint PID P with a floating point number. Helps with Issue #33
32	J2_PID_P	0.2 / 0 - 1	unitless	float
33	J3_PID_P	2 / 0 - 4	unitless	float
34	J4_PID_P	0.1 / 0 - 0.5	unitless	float
35	J5_PID_P	0.1 / 0 - 0.5	unitless	float
36	AngularSpeed	30 / 1 - 45	deg/s / arcsec/s	integer	Speed to ramp up to at given acceleration. Same as MaxSpeed but with human readable units.
37	AngularSpeedStartAndEnd	0.1 / 0 - 45	deg/s / arcsec/s	integer	Speed to ramp up from and down to. Same as StartSpeed but with human readable units.
38	AngularAcceleration	0.1 / 0.0003 - 0.1	deg/s2	integer
39	CartesianSpeed	300000 / 10000 - 500000	micron/s	integer
40	CartesianSpeedStart	0 / 0 - 500000	micron/s	integer
41	CartesianSpeedEnd	0 / 0 - 500000	micron/s	integer
42	CartesianAcceleration	1000000 / 0 - 500000	micron/s2	integer
43	CartesianStepSize	10 / 1 - 10000	micron	integer
44	CartesianPivotSpeed	108000 / 1 - 360000	arcsec/s	integer
45	CartesianPivotSpeedStart	0 / 1 - 360000	arcsec/s	integer
46	CartesianPivotSpeedEnd	0 / 1 - 360000	arcsec/s	integer
47	CartesianPivotAcceleration	10800000 / 1 - 10800000	arcsec/s2	integer
48	CartesianPivotStepSize	? / ?	arcsec	integer
49	EyeNumbers	0/-200 to +200		5 integers	Sets the index for which Eye Dexter thinks it is at. Where it is within an eye is calculated with encoder measurements and effectively cannot be set. Takes 5 signed integer arguments where 0 is the circle that contains 0 degrees. See read_from_robot, #EyeNumbers.
50	CommandedAngles		arcsec / arcsec	5 integers	Sets where Dexter thinks it is without actually moving the robot. Takes 5 angles in integer arcseconds. These are the same values that are returned in the robot status under *_AT.
51	LinkLengths	228600, 320676, 330201, 50801, 82551	microns	5 integers	Sets the lengths of each link in the arm for the onboard kinematics. Link 1: Base mount to Joint 2 pivot. Link 2: Joint 2 pivot to Joint 3 pivot. Link 3: Joint 3 pivot to Joint 4 pivot. Link 4: Joint 4 pivot to axis of tool interface. Link 5: Axis of Joint 4 to end effector (note: this depends on the end effector)
52	RawEncoderErrorLimits	3600 / 0-1296000	arcsec	5 integers	2019/04/22 The largest error allowed between the raw encoder reading of position and the expected position for each joint. Part of the status monitor. Will inject a returned error status on the next command and write out and entry with more information to /srv/samba/share/errors.log
53	RawVelocityLimits	3600 / 0-1296000	arcsec	5 integers	2019/04/22 The largest velocity allowed between subsequent readings of the raw encoder position. Part of the status monitor. Will inject a returned error status on the next command and write out and entry with more information to /srv/samba/share/errors.log

Note 1 nbits are a value added to a register every clock cycle for a 128Khz clock such that once it overflows, an action will be taken. Converted automatically by DDE in the socket communications code for the "MaxSpeed", "StartSpeed", and "Acceleration" parameters. The global constant "_nbits_cf" is 7754.73550222 and the values given are multiplied by that constant. This converts degrees / second (or degrees / second / second in the case of Acceleration) into nbits. Setting these values too low with effectively lockup the FPGA as it will take far too long to complete a movement.

Note 2 Frictions can be fractional, but are limited to a range of +-(256 + 1/256). E.g. 1.1 becomes 1 plus a fractional value of 25/256

Test for new table format:

#, Name (use either)	min|initial|max in DDE units	min|initial|max in Dexter units	Description
0, MaxSpeed	0.001 | 30 | 45 deg/s	8 | 250000 | 348963 integer nbits	Maximum velocity of next move in "nbits"1. See also StartSpeed below.
1, Acceleration	0.0001 | 0.0001 | 0.1 deg/s2	1 | 3 | 775 integer nbits	Maximum acceleration of next move in "nbits"1.
2, J1Force			How hard each joint tries to return to commanded position in force protect modes
3, J3Force
4, J2Force
5, J4Force
6, J5Force
7, J1Friction	5 unitless	0-50 fixed point 8.8	2 The friction felt during FollowMe mode
8, J3Friction	5 unitless	0-50 fixed point 8.8
9, J2Friction	5 unitless	0-50 fixed point 8.8
10, J4Friction	15 unitless	0-150 fixed point 8.8
11, J5Friction	15 unitless	0-150 fixed point 8.8
12, J1BoundryHigh	-180 | 150 | 180 deg	-648000 | 540000 | 648000 integer arcsec	Set all Boundaries at once with "B" Oplet
13, J1BoundryLow	-180 \| -150 \| 180 deg	-648000 \| -540000 \| 648000 integer arcsec
14, J3BoundryHigh	-180 | 150 | 180 deg	-648000 | 540000 | 648000 integer arcsec	(note order: Joint 3 and 2 are swapped here)
15, J3BoundryLow	-180 | -150 | 180 deg	-648000 | -540000 | 648000 integer arcsec
16, J2BoundryHigh	-180 | 90 | 180 deg	-648000 | 324000 | 648000 integer arcsec
17, J2BoundryLow	-180 | -90 | 180 deg	-648000 | -324000 | 648000 integer arcsec
18, J4BoundryHigh	-180 | 90 | 180 deg	-648000 | 324000 | 648000 integer arcsec
19, J4BoundryLow	-180 | -90 | 180 deg	-648000 | -324000 | 648000 integer arcsec
20, J5BoundryHigh	-180 | 90 | 180 deg	-648000 | 324000 | 648000 integer arcsec
21, J5BoundryLow	-180 | -90 | 180 deg	-648000 | -324000 | 648000 integer arcsec
22, GripperMotor	0|0|1(ON/OFF), 0|0|12000(ON_PWM), 0|0|12000(OFF_PWM) bool, int, int	Set PWM output on J19 1st parameter starts PWM with 1, stop with 0. After 2019/05/23: 2nd parameter is PWM on time, 3rd is off time. See W commands 73 - 74.
23, EERoll	0-300 deg	0|512|~1023 0.29*deg	6th axis position / Tool Interface Roll (was standard servo, May 29,2018 changed to Dynamixel)
24, EESpan	0-300 deg	0\|0\|~1023 0.29*deg	7th axis position / End Effector actuation (was standard servo, May 29,2018 changed to Dynamixel)
25, StartSpeed	0.0001|1|?	1|7754|? nbits	Velocity at start (and currently, the end as well) of the next move in "nbits"1
26, EndSpeed			(not implemented) Currently StartSpeed is the speed for both the start and end of each move.
27, ServoSet2X			Address, Register, Value (as of 2018/05/29 was "End") see: Servo
28, ServoSet			Address, Register, String 2018/05/29. Needs work see Issue 32 Needed for Screen
29, RebootServo	n/a	n/a	2018/05/29
30, RunFile	FilePathName	2018/10/12 If it exists, the file will be opened and all instructions from it parsed and executed. By convention, files end with `.make_ins` extension. Each line should be one instruction just like any sent over the socket connection (the job, instruction, start, and end time values are NOT included; start with the oplet). A sample line might be `S J1_PID_P 0.2 ; set base drive` Anything after a ';' is ignored allowing comments. Was 2018/08/24 `"Ctrl" parms/values` for compact setting of values related to operational mode but this was depreciated and replaced with RunFile.