diff --git a/experimentalSetups/5-setup-mrie/5-setup.xml b/experimentalSetups/5-setup-mrie/5-setup.xml new file mode 100644 index 0000000000..f36e837c90 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/5-setup.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup-mrie/CMakeLists.txt b/experimentalSetups/5-setup-mrie/CMakeLists.txt new file mode 100644 index 0000000000..d8ef558357 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/CMakeLists.txt @@ -0,0 +1,11 @@ +set(appname 5-setup-mrie) + +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}) + diff --git a/experimentalSetups/5-setup-mrie/calibrators/5-setup-calib.xml b/experimentalSetups/5-setup-mrie/calibrators/5-setup-calib.xml new file mode 100644 index 0000000000..b17dac04db --- /dev/null +++ b/experimentalSetups/5-setup-mrie/calibrators/5-setup-calib.xml @@ -0,0 +1,55 @@ + + + + + + + + + 1 + 5-Setup_Calibrator + + + + 0 + 10 + + + + + + + 12 + + 0 + 0 + 0 + + + 0 + 0 + 0 + 0 + + 0 + 10 + 5500 + 2 + + + + (0) + + + 5-setup-mc_remapper + + + + 5-setup-mc_remapper + + + + + + diff --git a/experimentalSetups/5-setup-mrie/firmwareupdater.ini b/experimentalSetups/5-setup-mrie/firmwareupdater.ini new file mode 100644 index 0000000000..c93b53ab35 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/firmwareupdater.ini @@ -0,0 +1,2 @@ +[DRIVERS] +ETH "eth" diff --git a/experimentalSetups/5-setup-mrie/general.xml b/experimentalSetups/5-setup-mrie/general.xml new file mode 100644 index 0000000000..e054d39259 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/general.xml @@ -0,0 +1,12 @@ + + + + + + + false + false + false + false + + diff --git a/experimentalSetups/5-setup-mrie/hardware/electronics/5-setup-eln.xml b/experimentalSetups/5-setup-mrie/hardware/electronics/5-setup-eln.xml new file mode 100644 index 0000000000..98ec238ff7 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/hardware/electronics/5-setup-eln.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + 10.0.1.1 + 12345 + ems4 + 768 + 384 + + + + "5-setup" + + 1000 + 400 + 300 + 300 + 5 + + + + + + true + 0.020 + 60.0 + + + + + + + diff --git a/experimentalSetups/5-setup-mrie/hardware/electronics/pc104.xml b/experimentalSetups/5-setup-mrie/hardware/electronics/pc104.xml new file mode 100644 index 0000000000..53acc04717 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/hardware/electronics/pc104.xml @@ -0,0 +1,14 @@ + + + + + + + 10.0.1.104 + 12345 + 1 + 5 + + + + diff --git a/experimentalSetups/5-setup-mrie/hardware/mechanicals/5-setup-mec.xml b/experimentalSetups/5-setup-mrie/hardware/mechanicals/5-setup-mec.xml new file mode 100644 index 0000000000..318e62a71f --- /dev/null +++ b/experimentalSetups/5-setup-mrie/hardware/mechanicals/5-setup-mec.xml @@ -0,0 +1,73 @@ + + + + + + 6 + 1 + 0 + "setup" + "revolute" + 182.044 + 32000 + 1000.0 + 1 + 1 + 1 + "MOOG_C2900576" + 0 + + + + 0 + 0 + 0 + 0 + + + + 0 + 0 + 0 + 0 + 1 + 1 + 0 + 12 + 20 + + + + + 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 + + + + 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 + + + + 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 + none + 0 + 0 + + + + diff --git a/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc.xml b/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc.xml new file mode 100644 index 0000000000..57f2087014 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc.xml @@ -0,0 +1,125 @@ + + + + + + + + + + + + + + + 0 + 0 + 18000 + 3500 + 5100 + 15000 + 12000 + + + + 100 + + + + 0 + 0 + + + + POS_PID_DEFAULT + POS_PID_DEFAULT + POS_PID_DEFAULT + TRQ_PID_DEFAULT + 2FOC_CUR_CONTROL + 2FOC_VEL_CONTROL + + + + + + + minjerk + pwm + metric_units + machine_units + 300 + 0 + 60 + 12000 + 3000 + 0 + 0 + 0 + + + + + + + + torque + pwm + metric_units + dutycycle_percent + 0 + 0 + 0 + 25 + 1.56 + 0 + 0 + 0 + 1 + 0.0016 + 0 + 0.63 + + + + + + + + low_lev_current + machine_units + machine_units + 8 + 0 + 2 + 10 + 32000 + 32000 + 0 + + + + low_lev_speed + machine_units + machine_units + 0 + 12 + 0 + 16 + 10 + 32000 + 32000 + + + + + + + + + + 0.0049 + + + + + diff --git a/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc_service.xml b/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc_service.xml new file mode 100644 index 0000000000..22c4155e0a --- /dev/null +++ b/experimentalSetups/5-setup-mrie/hardware/motorControl/5-setup-mc_service.xml @@ -0,0 +1,65 @@ + + + + + + + + eomn_serv_MC_foc + + + + + ems4 + + + + foc + + 1 + 6 + + + 3 + 3 + 3 + + + + + + + + + + eomc_act_foc + CAN1:1:0 + + + + none + CONN:none + none + 0 + 0 + + + + roie + CAN1:1:0 + atmotor + 20800 + 3.6 + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup-mrie/network.5-setup.xml b/experimentalSetups/5-setup-mrie/network.5-setup.xml new file mode 100644 index 0000000000..9a964e77b7 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/network.5-setup.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + ETH + + + + + + ETH + + + + + + + + + + + + + + + + + diff --git a/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_remapper.xml b/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_remapper.xml new file mode 100644 index 0000000000..781ca0e59c --- /dev/null +++ b/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_remapper.xml @@ -0,0 +1,15 @@ + + + + + + ( 0 0 0 0 ) + + 1 + + + 5-setup-mc + + + + diff --git a/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_wrapper.xml b/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_wrapper.xml new file mode 100644 index 0000000000..7255f5149d --- /dev/null +++ b/experimentalSetups/5-setup-mrie/wrappers/motorControl/5-setup-mc_wrapper.xml @@ -0,0 +1,10 @@ + + + + + /icub/5-setup + + 5-setup-mc_remapper + + + diff --git a/experimentalSetups/5-setup-mrie/yarpmotorgui.ini b/experimentalSetups/5-setup-mrie/yarpmotorgui.ini new file mode 100644 index 0000000000..b0ceba895b --- /dev/null +++ b/experimentalSetups/5-setup-mrie/yarpmotorgui.ini @@ -0,0 +1,7 @@ +//name of the robot +robot icub +//parts to be opened by the GUI +parts (5-setup) + + //DO NOT REMOVE THIS LINE + diff --git a/experimentalSetups/5-setup-mrie/yarprobotinterface.ini b/experimentalSetups/5-setup-mrie/yarprobotinterface.ini new file mode 100644 index 0000000000..1316cb9359 --- /dev/null +++ b/experimentalSetups/5-setup-mrie/yarprobotinterface.ini @@ -0,0 +1,2 @@ +config ./5-setup.xml +