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Add medium joint setups configuration (#434)
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Co-authored-by: Alessandro Scalzo <Alessandro.scalzo@iit.it>
Co-authored-by: Ugo Pattacini <ugo.pattacini@iit.it>
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@valegagge @ale-git @pattacini
3 people authored Feb 8, 2023
1 parent 4c71663 commit 3e7c87d
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22 changes: 22 additions & 0 deletions experimentalSetups/5-improvedJoint/5-setup.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="5-setup" build="1" portprefix="icub" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/5-setup-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/5-setup-mc_remapper.xml" />

<!-- TORSO -->
<xi:include href="hardware/motorControl/5-setup-mc.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/5-setup-calib.xml" />

</devices>
</robot>
11 changes: 11 additions & 0 deletions experimentalSetups/5-improvedJoint/CMakeLists.txt
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set(appname 5-joint)

file(GLOB xml ${CMAKE_CURRENT_SOURCE_DIR}/*.xml)
file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)

yarp_install(FILES ${xml} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${ini} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})

55 changes: 55 additions & 0 deletions experimentalSetups/5-improvedJoint/calibrators/5-setup-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="5-setup-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> 5-Setup_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 </param>
<param name="velocityHome"> 10 </param>
</group>



<group name="CALIBRATION">
<!-- roll -->
<param name="calibrationType"> 12 </param>
<!--
<param name="calibration1"> 58233 </param> -->
<param name="calibration1"> 64473 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 0 </param>


<param name="calibration4"> 0 </param>
<param name="calibration5"> 0 </param>
<param name="calibrationZero"> 0 </param>
<param name="calibrationDelta"> 0 </param>

<param name="startupPosition"> 0 </param>
<param name="startupVelocity"> 30 </param>
<param name="startupMaxPwm"> 32000 </param>
<param name="startupPosThreshold"> 2 </param>
</group>

<!-- check old calibrator for the correct sequence, then ask to Randazz -->
<param name="CALIB_ORDER"> (0) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">5-setup-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">5-setup-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>

2 changes: 2 additions & 0 deletions experimentalSetups/5-improvedJoint/firmwareupdater.ini
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[DRIVERS]
ETH "eth"
12 changes: 12 additions & 0 deletions experimentalSetups/5-improvedJoint/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova09" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
40 changes: 40 additions & 0 deletions experimentalSetups/5-improvedJoint/hardware/electronics/5-setup-eln.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="5-setup" build="1">

<xi:include href="./pc104.xml" />

<group name="ETH_BOARD">

<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.7 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> ems4 </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "5-setup" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
</group>
</group>

<group name="ETH_BOARD_ACTIONS">
<group name="MONITOR_ITS_PRESENCE">
<param name="enabled"> true </param>
<param name="timeout"> 0.020 </param>
<param name="periodOfMissingReport"> 60.0 </param>
</group>
</group>

</group>

</params>

14 changes: 14 additions & 0 deletions experimentalSetups/5-improvedJoint/hardware/electronics/pc104.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="iCubGenova09" build="1">

<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
</group>

</params>

73 changes: 73 additions & 0 deletions experimentalSetups/5-improvedJoint/hardware/mechanicals/5-setup-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="5-setup" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 1 </param>
<param name="AxisMap"> 0 </param>
<param name="AxisName"> "setup" </param>
<param name="AxisType"> "revolute" </param>
<param name="Encoder"> 182.044 </param>
<param name="fullscalePWM"> 32000 </param>
<param name="ampsToSensor"> 1000.0 </param>
<param name="Gearbox_M2J"> 160 </param>
<param name="Gearbox_E2J"> 1 </param>
<param name="useMotorSpeedFbk"> 1 </param>
<param name="MotorType"> "MOOG_C2900576" </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 180 </param>
<param name="hardwareJntPosMin"> -180 </param>
<param name="rotorPosMin"> 0 </param>
<param name="rotorPosMax"> 0 </param>
</group>

<group name="2FOC">
<param name="Verbose"> 0 </param>
<param name="AutoCalibration"> 0 </param>
<param name="HasHallSensor"> 0 </param>
<param name="HasTempSensor"> 0 </param>
<param name="HasRotorEncoder"> 1 </param>
<param name="HasRotorEncoderIndex"> 1 </param>
<param name="HasSpeedEncoder"> 0 </param>
<param name="RotorIndexOffset"> 113 </param>
<param name="MotorPoles"> 20 </param>
</group>

<group name="COUPLINGS">
<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixM2J">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixE2J">
1.00 0.00 0.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00 0.00 0.00
0.00 0.00 1.00 0.00 0.00 0.00
0.00 0.00 0.00 1.00 0.00 0.00
</param>
</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 1 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>

</params>
129 changes: 129 additions & 0 deletions experimentalSetups/5-improvedJoint/hardware/motorControl/5-setup-mc.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="5-setup-mc" type="embObjMotionControl">

<xi:include href="../../general.xml" />
<xi:include href="../../hardware/electronics/5-setup-eln.xml" />
<xi:include href="../../hardware/mechanicals/5-setup-mec.xml" />
<xi:include href="./5-setup-mc_service.xml" />

<!-- joint number 0 ->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 180 </param>
<param name="jntPosMin"> -180 </param>
<param name="jntVelMax"> 18000 </param>
<param name="motorNominalCurrents"> 20000 </param>
<param name="motorPeakCurrents"> 20000 </param>
<param name="motorOverloadCurrents"> 20000 </param>
<param name="motorPwmLimit"> 32000 </param>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0 </param>
<param name="damping"> 0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT </param>
<param name="currentPid"> 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL </param>
</group>


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 500 </param>
<param name="kd"> 0 </param>
<param name="ki"> 100 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 3000 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
</group>

<!-- default position PID: end -->


<!-- default torque PID: begin -->
<group name="TRQ_PID_DEFAULT">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 1.8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 0 </param>
<param name="maxOutput"> 2000 </param>
<param name="maxInt"> 1000 </param>
<param name="ko"> 0.55 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
<param name="kbemf"> 0 </param>
<param name="filterType"> 3 </param>
<param name="ktau"> 0 </param>
<param name="viscousPos"> 1.0 </param>
<param name="viscousNeg"> 1.0 </param>
<param name="coulombPos"> 0.0 </param>
<param name="coulombNeg"> 0.0 </param>
</group>
<!-- default torque PID: end -->


<!-- other default PIDs: begin -->

<group name="2FOC_CUR_CONTROL">
<param name="controlLaw"> low_lev_current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 2 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
<param name="kff"> 0 </param>
</group>

<group name="2FOC_VEL_CONTROL">
<param name="controlLaw"> low_lev_speed </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 </param>
<param name="kp"> 12 </param>
<param name="kd"> 0 </param>
<param name="ki"> 16 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
</group>

<!-- other default PIDs: end -->


<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 </param>
</group>

</device>


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