Programmatic PDOs - All Demo Test#39
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justincmfong merged 26 commits intoUniMelbHumanRoboticsLab:ProgrammaticPDOsfrom Feb 5, 2021
Merged
Programmatic PDOs - All Demo Test#39justincmfong merged 26 commits intoUniMelbHumanRoboticsLab:ProgrammaticPDOsfrom
justincmfong merged 26 commits intoUniMelbHumanRoboticsLab:ProgrammaticPDOsfrom
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Back Merge due to changes I'd stashed when I branched
X2 ALEX Implementations
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Programmatic PDOs implemented. Documentation still to update. |
justincmfong
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Mar 4, 2021
* compiler is changed for Linux pc * small fix on Readme. Executable is named EXO_APP not EXO_ROBOT * Adapted M1 platfrom from Tim, to be modified... * Compile and run the code to display joint status in real-time in command line; State transition (e.g., from idle state to demo state) is not working yet * M1 moves with position control. But the actual angle is not tranformed correctly. * M1 can track sin wave trajectory. Still need to figure out the conversion between device unit (encoder count) and joint unit (degree or radian). * Position tracking without posControlConfirmSP; CANOPEN communication crashes occasionally. * Basic velocity and torque/current control, i.e., tracking sine wave target or constant target, were tested. * Correct conversion between joint unit and device unit * before merge with ROS implementation * Segmentation fault! * M1 moves * cleaned up debug outputs * Added safety checks against NaN/Inf at Joint level * enable torque sensor on the axis * add zero calibration * for calibration, move joint to 90 degree, then put weight on the link * Addition of network communication and minimal use demo in M3DemoMachine * Updated M3 to publish endeffector states on network communication * Comments and format of FLNLHelper * demo machine cyclic move between 0 and 90 degree with position, velocity, and torque control * work on system identification and compensation strategy * Updated libFLNL and default time registered in state for network communication * FLNL connection management * Typo * Network communication documentation * Update NetworkCommunication.md * Makefle update for merging * working on demonstration functions * Minimal untested, uncalibrated M2 implementatio * Improved M2 demomachine and Arc Circle state - Not tested * Peak can dedicated initscriipt and some M2 calibration (only torque control) * model compensation and virtual spring piloting * PD torque feedback control and feedforward friction compensation * Created (empty) M2 spasticity test app * Inverted hwUpdate and update in application for delay. Switch to 1kHz. * Testing for Programmatic PDOs (#38) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Improved uploadBB.sh script using rsync (faster) * Improved uploadBB script using rsync (faster) and config files * Fix bug missing header in FLNLHelper * Programmatic PDOs - All Demo Test (#39) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Optimised (a bit) the can PDOs setup * Update Drive.cpp Failed at merging. * Update KincoDrive.cpp Didn't update properly to new generateRPDOConfigSDO/generateTPDOConfigSDO formats * Switched to Velocity control mode 3 (was -3) * Swaped hwUpdate and update and faster control loop * Added drive reset error function and call from init() * change object dictionary for M2 sensors * Ros Node created at DemoMachine Constructor (#40) * fix variable name and tab * ROS Node is created at DemoMachine constructor * Cleanup init scripts (no candump, no increase queulength) * Remove spasticity app for merge * Tidy up for Programmatic PDO * Removed some unncessary entries in the OD * Documentation changes for programmatic PDOs * Tidy up * merging... * Fixed Eigen problem w/ state dynamic creation. M1, M2, M3 running * Added privilege management to avoid logging and running as root * Updated contributors list * Slight cleanup of M1 code * Slight cleanup of M2 code * Merged force sensor versions. X2 force sensor ids to be checked. * Improved M2 (and comments) and fix libFLNL destruction segfault * Check for state machine name in CMake * Updated ROS documentation * application.cpp cleanup * Blame vscode files from repo * Removed f64 in M_PIf64 definitions as they aren't available on Windows Compiler * Correct Simulation bug with ROS X2DemoMachine * Updated ROS documentation * Added code snippet to list can socket parameters * Added code snippet to list can socket parameters * Corrected FourierSensor sensorID/COBID * Changed FourierForceSensor Calibration to no longer need SDO Message. Small tidy up of M1. Co-authored-by: emekB <baris.kucuktabak@gmail.com> Co-authored-by: Yue <ywen3@sralab.org> Co-authored-by: Yue <ywen3@ncsu.edu> Co-authored-by: justinfong-unimelb <49131879+justinfong-unimelb@users.noreply.github.com> Co-authored-by: xinlianggunimelb <guoxinliang1995@gmail.com> Co-authored-by: Emek Barış Küçüktabak <32764586+emekBaris@users.noreply.github.com> Co-authored-by: justinfong-unimelb <fong.j@unimelb.edu.au>
justincmfong
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Sep 28, 2021
* Changed ExoTestMachine to include calibration * Programmatic PDOs - All Demo Test (UniMelbHumanRoboticsLab#39) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Update Drive.cpp Failed at merging. * Update KincoDrive.cpp Didn't update properly to new generateRPDOConfigSDO/generateTPDOConfigSDO formats * Initial commits and changes to port ALEX software * Initial ALEXMachine Merge * Still not compiling * ALEX 2020 Compiles but segfaults * ALEX comiples and runs (stll not good) * Ros Node created at DemoMachine Constructor (UniMelbHumanRoboticsLab#40) * fix variable name and tab * ROS Node is created at DemoMachine constructor * Tidy up for Programmatic PDO * Removed some unncessary entries in the OD * Documentation changes for programmatic PDOs * Tidy up * Added Crutch to Branch. Fixed PDOs * Working. Need to calibrate. * Change name of crutch software. * Homing Operational * Reset Crutch Functionality Added * Operational * Error Button and Overload Behaviour added * Fixed error button implementation and overload implementation * Updated ForcePlateApp to have more inputs * Fix ForcePlate4 indexing error. Added big force plate to logging robot * Fix State and movement logging * Changes for BBB two force sensor and strain guage monitoring. * CMake for Node ID, BB FP Pin assignment, Sep Zeroing in loggingDevice * Changes to Force Plate to try to get better sampling rates. * ForcePlate now includes 4 sensors * Removed AlexCrutch * Remove ALEX Co-authored-by: justinfong-unimelb <49131879+justinfong-unimelb@users.noreply.github.com> Co-authored-by: Emek Barış Küçüktabak <32764586+emekBaris@users.noreply.github.com>
justincmfong
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Sep 29, 2021
* Changed ExoTestMachine to include calibration * Programmatic PDOs - All Demo Test (UniMelbHumanRoboticsLab#39) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Update Drive.cpp Failed at merging. * Update KincoDrive.cpp Didn't update properly to new generateRPDOConfigSDO/generateTPDOConfigSDO formats * Initial commits and changes to port ALEX software * Initial ALEXMachine Merge * Still not compiling * ALEX 2020 Compiles but segfaults * ALEX comiples and runs (stll not good) * Ros Node created at DemoMachine Constructor (UniMelbHumanRoboticsLab#40) * fix variable name and tab * ROS Node is created at DemoMachine constructor * Tidy up for Programmatic PDO * Removed some unncessary entries in the OD * Documentation changes for programmatic PDOs * Tidy up * Added Crutch to Branch. Fixed PDOs * Working. Need to calibrate. * Change name of crutch software. * Homing Operational * Reset Crutch Functionality Added * Operational * Error Button and Overload Behaviour added * Fixed error button implementation and overload implementation * Updated ForcePlateApp to have more inputs * Fix ForcePlate4 indexing error. Added big force plate to logging robot * Fix State and movement logging * Changes for BBB two force sensor and strain guage monitoring. * CMake for Node ID, BB FP Pin assignment, Sep Zeroing in loggingDevice * Changes to Force Plate to try to get better sampling rates. * ForcePlate now includes 4 sensors * Removed AlexCrutch * Remove ALEX Co-authored-by: justinfong-unimelb <49131879+justinfong-unimelb@users.noreply.github.com> Co-authored-by: Emek Barış Küçüktabak <32764586+emekBaris@users.noreply.github.com>
justincmfong
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Nov 5, 2021
* Not Working * test: Programmatic OD - not working * Still not working. * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Removed Segfault with deleting crutch sensors * RPDO object created and working * Programmatic TPDOs implemented. * Calibration works. Problem with first pos always 0 * Added Continuous Position Control commands * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Testing for Programmatic PDOs (#38) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Added HX711 Functionality * Hx711 Multi device test success * Typo in HX711 include * Multi strain gauge HX711 * Zeroing on HX711 * Force plate and Logging Device operational. Possible issue with too many SYNC messages * Start of logging robot * Added motors to logging robot * Added Logging for more motor and state variables * CORC Merge 2021 (#6) * Changed ExoTestMachine to include calibration * Programmatic PDOs - All Demo Test (#39) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Update Drive.cpp Failed at merging. * Update KincoDrive.cpp Didn't update properly to new generateRPDOConfigSDO/generateTPDOConfigSDO formats * Initial commits and changes to port ALEX software * Initial ALEXMachine Merge * Still not compiling * ALEX 2020 Compiles but segfaults * ALEX comiples and runs (stll not good) * Ros Node created at DemoMachine Constructor (#40) * fix variable name and tab * ROS Node is created at DemoMachine constructor * Tidy up for Programmatic PDO * Removed some unncessary entries in the OD * Documentation changes for programmatic PDOs * Tidy up * Added Crutch to Branch. Fixed PDOs * Working. Need to calibrate. * Change name of crutch software. * Homing Operational * Reset Crutch Functionality Added * Operational * Error Button and Overload Behaviour added * Fixed error button implementation and overload implementation * Updated ForcePlateApp to have more inputs * Fix ForcePlate4 indexing error. Added big force plate to logging robot * Fix State and movement logging * Changes for BBB two force sensor and strain guage monitoring. * CMake for Node ID, BB FP Pin assignment, Sep Zeroing in loggingDevice * Changes to Force Plate to try to get better sampling rates. * ForcePlate now includes 4 sensors * Removed AlexCrutch * Remove ALEX Co-authored-by: justinfong-unimelb <49131879+justinfong-unimelb@users.noreply.github.com> Co-authored-by: Emek Barış Küçüktabak <32764586+emekBaris@users.noreply.github.com> * Minor Changes to reduce compile warnings * Fixed compile errors after rebase * Attempt to move spdlog to a submodule * spdlog as submodule * change spdlog to v1.8.1 * Remote Random print statement in PDO generation * YAML-CPP added as submodule rather than just files * Eigen as submodule * Remove old Eigen files * Fixed Eigen include path typo * Updated doc for submodule clone * Updated libFLNL (to be set as submodule) * FLNL as a submodule * Cleanup submodules * Documentation Updates * Fixing Links * SYNC message period to 10ms * Remove M3Chai, Doxygen tidy up * CMakeList, Doxygen tidyup, Co-authored-by: justinfong-unimelb <49131879+justinfong-unimelb@users.noreply.github.com> Co-authored-by: Emek Barış Küçüktabak <32764586+emekBaris@users.noreply.github.com> Co-authored-by: kennyyy <kennyyy24@hotmail.com>
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