diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml index 42e5243594..d4b0101727 100644 --- a/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml +++ b/experimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml @@ -10,11 +10,11 @@ - ems4 + amc - foc + amcbldc 0 0 @@ -35,7 +35,7 @@ eomc_enc_aea - CONN:P6 + CONN:P1 eomc_pos_atjoint 4096 0.4 diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/calibrators/wrist-calib.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/calibrators/wrist-calib.xml new file mode 100644 index 0000000000..1590006c0a --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/calibrators/wrist-calib.xml @@ -0,0 +1,47 @@ + + + + + + + + + 3 + Wrist_Calibrator + + + + 0 0 0 + 10 10 10 + + + + 12 12 12 + + 6865 29533 30289 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + 0 0 0 + + 0.0 0.0 0.0 + 30.0 30.0 30.0 + 16000 16000 16000 + 2 2 2 + + + (0 1 2) + + + wrist-mc_remapper + + + + wrist-mc_remapper + + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/firmwareupdater.ini b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/general.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/general.xml new file mode 100644 index 0000000000..80e6f0ac17 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/pc104.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..7a4be777a2 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml new file mode 100644 index 0000000000..e845c5ed79 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/electronics/wrist-eb2-j0_2-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + amc + 768 + 384 + + + + "wrist-eb2-j0_2" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml new file mode 100644 index 0000000000..059f85b8f2 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 3 + 0 1 2 + "wrist_yaw" "wrist_roll" "wrist_pitch" + "revolute" "revolute" "revolute" + 182.044 182.044 182.044 + 32000 32000 32000 + 1000.0 1000.0 1000.0 + -384.44 -384.44 -384.44 + 1.778 1.778 1.778 + 0 0 0 + "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" + 0 + + + + 92 52 32 + -92 -62 -32 + 0 0 0 + 0 0 0 + + + + 1 1 1 + 0 0 0 + 1 1 1 + 1 1 1 + 0 0 0 + 0 0 0 + 14 14 14 + + + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + + + + 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 + + + + + + 1 + + 0 1 2 + none + 0 + 0 + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml new file mode 100644 index 0000000000..21a457766a --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + 90 50 30 + -90 -60 -30 + 90 90 90 + 1000 1000 1000 + 1500 1500 1500 + 2000 2000 2000 + 16000 16000 16000 + + + + 100 100 100 + + + + 0 0 0 + 0 0 0 + + + + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT + none none none + 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL + + + + + + + minjerk + current + metric_units + machine_units + -30 -30 -30 + -10 -10 -10 + -100 -100 -100 + 500 500 500 + 200 200 200 + 0 0 0 + 0 0 0 + 0 0 0 + + + + + + + + + low_lev_current + machine_units + machine_units + 2 2 2 + 0 0 0 + 500 500 500 + 0 0 0 + 32000 32000 32000 + 32000 32000 32000 + 0 0 0 + + + + low_lev_speed + machine_units + machine_units + 0 0 0 + 12 12 12 + 0 0 0 + 16 16 16 + 10 10 10 + 32000 32000 32000 + 32000 32000 32000 + + + + + + + + + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml new file mode 100644 index 0000000000..d6fb5f2842 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml @@ -0,0 +1,58 @@ + + + + + + + + eomn_serv_MC_foc + + + + + amc + + + + amcbldc + + 0 + 0 + + + 0 + 0 + 0 + + + + + + + eomc_act_foc foc foc + CAN1:1:0 CAN1:2:0 CAN1:3:0 + + + + eomc_enc_aea aea aea + CONN:P1 CONN:P2 CONN:P3 + eomc_pos_atjoint atjoint atjoint + 4096 4096 4096 + 0.4 0.4 0.4 + + + + roie roie roie + CAN1:1:0 CAN1:2:0 CAN1:3:0 + atmotor atmotor atmotor + 16000 16000 16000 + 0 0 0 + + + + + + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/new_forearm-no_hand.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/new_forearm-no_hand.xml new file mode 100644 index 0000000000..343533fd76 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/new_forearm-no_hand.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/sequence-close-open.posleft_hand_mc b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/sequence-close-open.posleft_hand_mc new file mode 100644 index 0000000000..b2900e863a --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/sequence-close-open.posleft_hand_mc @@ -0,0 +1,73 @@ + + + + + 10.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 10.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 10.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 10.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + + + 70.00 + 70.00 + 70.00 + 70.00 + + + 40.00 + 40.00 + 40.00 + 40.00 + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml new file mode 100644 index 0000000000..10e2168219 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + 0 2 0 2 + + 3 + + + wrist-eb2-j0_2-mc + + + + \ No newline at end of file diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml new file mode 100644 index 0000000000..2b123c339d --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/wrappers/motorControl/wrist-mc_wrapper.xml @@ -0,0 +1,11 @@ + + + + + + /nfa/wrist_mc + + wrist-mc_remapper + + + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarpmotorgui.ini b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarpmotorgui.ini new file mode 100644 index 0000000000..6748a45a63 --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarpmotorgui.ini @@ -0,0 +1,4 @@ +robot nfa + +parts (wrist_mc) + diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarprobotinterface.ini b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarprobotinterface.ini new file mode 100644 index 0000000000..ece76afabb --- /dev/null +++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./new_forearm-no_hand.xml +