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set parameter oplet
JamesNewton edited this page Apr 4, 2019
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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" | 500 / 0 - 12000 | PWM | Set mode to use PWM output on J19 Start with 1, stop with 0. TODO make ON and OFF widths parameters. See W command 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 May 29,2018 was "End") see: Servo | |||
| 28 | "ServoSet" | ||||
| 29 | "RebootServo" | May 29,2018 | |||
| 30 | "RunFile" | FilePathName Oct 12, 2018 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. Was: "Ctrl" parms/values Aug 24, 2018 Compact setting of values related to operational mode. (Depreciated, replaced with RunFile) |
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| 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 | |
| 37 | "AngularSpeedStartAndEnd" | 0.1 / 0 - 45 | deg/s / arcsec/s | integer | |
| 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 | "EyeNumbers" | array of 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. | ||
| 49 | "CommandedAngles" | arcsec / arcsec | integer array of 5 | 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. | |
| 50 | "LinkLengths" | 165100, 340320, 321032, 050800, 140000 | microns | integer array of 5 | 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) |
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 divided by that constant. This converts degrees / second (or degrees / second / second in the case of Acceleration) into nbits.
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
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