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Update wristmk2_handmk_3_ems_amcbldc configuration files #368

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Merged
merged 1 commit into from
Jul 12, 2022
Merged

Update wristmk2_handmk_3_ems_amcbldc configuration files #368

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5 changes: 2 additions & 3 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,14 +35,13 @@
<param name="CALIB_ORDER"> (0 1 2) </param>

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

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

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

</device>

1 change: 1 addition & 0 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml
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Expand Up @@ -11,6 +11,7 @@
<!-- WRIST MC -->
<xi:include href="hardware/motorControl/wrist-eb2-j0_2-mc.xml" />
<xi:include href="wrappers/motorControl/wrist-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/wrist-mc_remapper.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/wrist-calib.xml" />
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27 changes: 5 additions & 22 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml
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Expand Up @@ -2,27 +2,10 @@
<!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="wrist-mc_wrapper" type="controlboardwrapper2">
<paramlist name="networks">
<!-- elem name hereafter are custom names that live only in this file, they are used in the attach phase -->
<elem name="FirstSetOfJoints"> 0 2 0 2 </elem>
</paramlist>

<param name="period"> 10 </param>
<param name="name"> /nfa/wrist_mc </param>
<param name="ports"> wrist_mc </param>
<param name="joints"> 3 </param>


<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-mc.xml file -->
<elem name="FirstSetOfJoints"> wrist-eb2-j0_2-mc </elem>
<elem name="Calibrator"> wrist-calibrator </elem>
</paramlist>
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="wrist-mc_wrapper" type="controlBoard_nws_yarp">
<param name="name"> /nfa/wrist_mc </param>
<action phase="startup" level="10" type="attach">
<param name="device"> wrist-mc_remapper </param>
</action>

<action phase="shutdown" level="5" type="detach" />

<action phase="shutdown" level="15" type="detach" />
</device>