MotionRecorder_test.ikc

<?xml version="1.0"?>

<group title="MotionRecorder">

         <_module
            class = "Dynamixel"
            name = "Joints"
            device  = "/dev/cu.usbserial-A7005Lxn"
            index_mode = "indirect"
            printf_info ="minimal"
            use_feedback ="true"
            baud_rate = "1000000"
            angle_unit = "tau"
        />

        <module
            class = "Constant"
            name = "Joints"
            data = "0.5 0.5"
        />

 		<module
			class = "MotionRecorder"
			name = "MotionRecorder"
            mask = "1 1 1 1 1  1"
            torque = "0.25 0.25 0.25 0.25 0.25"
            filename = "motion.%d.mot"
		/>

        <_connection sourcemodule = "MotionRecorder" source = "OUTPUT" targetmodule = "Joints" target = "GOAL_POSITION" />
        <_connection sourcemodule = "MotionRecorder" source = "TORQUE" targetmodule = "Joints" target = "TORQUE_LIMIT" />
        <_connection sourcemodule = "MotionRecorder" source = "ENABLE" targetmodule = "Joints" target = "TORQUE_ENABLE" />

        <connection sourcemodule = "Joints" source = "OUTPUT" targetmodule = "MotionRecorder" target = "INPUT" />

		<view name="View" object_size="50">
			<object class="Plot" module="Joints" source="OUTPUT" color="green" select="0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13" x="0" y="0" w="8" h="4" />
			<object class="Plot" module="MotionRecorder" source="OUTPUT" color="red" select="0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13" x="0" y="0" w="8" h="4" />
			<object class="BarGraph" title="record" module="MotionRecorder" source="STATE" x="8" y="0" w="2" h="2" max="2" />
			<object class="Table" title="time" module="MotionRecorder" source="TIME" decimals="0" x="8" y="2" w="2" h="2" />

            <object class="Button" title = "Off" module="MotionRecorder" parameter="off" x="10" y="0" h="1" w="2" />
            <object class="Button" title = "Stop" module="MotionRecorder" parameter="stop" x="10" y="1" h="1" w="2" />
            <object class="Button" title = "Record" module="MotionRecorder" parameter="record" x="10" y="2" h="1" w="2" />
            <object class="Button" title = "Play"  module="MotionRecorder" parameter="play" x="10" y="3" h="1" w="2" />
            <object class="Button" title = "Train"  module="MotionRecorder" parameter="train" x="10" y="4" h="1" w="2" />
            <object class="Button" title = "Save" module="MotionRecorder" parameter="save" x="10" y="5" h="1" w="2" />

			<object class="Plot" module="MotionRecorder" source="ERROR" select="0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13" min="-1" nax="1" x="0" y="5" w="8" h="4" />
			<object class="Plot" module="MotionRecorder" source="MEAN_ERROR" x="0" y="9" w="8" h="2" />
			<object class="Plot" module="MotionRecorder" source="TORQUE" x="0" y="11" w="8" h="2" />

            <object class="Slider" title = "D0" module="Joints" parameter="data" select="0" x="8" y="11" h="2" w="1" />
            <object class="Slider" title = "D1" module="Joints" parameter="data" select="1" x="9" y="11" h="2" w="1" />
		</view>

    <module class = "Logger" name = "Logger" />
</group>