Skip to content

Update config files for lego-setup + wrist-setup for both EMS and AMC #391

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Oct 4, 2022
Merged

Update config files for lego-setup + wrist-setup for both EMS and AMC #391

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6908f7b
AMCBLDC – Update config files for `wristmk2_handmk3_ems_amcbldc`-setup
sgiraz Sep 29, 2022
f5e5077
Update config files for `lego-setup` + `wrist-setup` for both `ems` a…
sgiraz Oct 4, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 </param>
</group>

<group name="2FOC">
<group name="AMCBLDC">
<param name="HasHallSensor"> 1 </param>
<param name="HasTempSensor"> 0 </param>
<param name="HasRotorEncoder"> 0 </param>
Expand Down
6 changes: 3 additions & 3 deletions ...rimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,13 @@
<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<group name="PROTOCOL">
<param name="major"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="build"> 7 </param>
</group>
</group>

Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/lego_setup_amc_amcbldc/new_forearm-no_hand.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?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="new_forearm" build="1" portprefix="nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="new_forearm" build="1" portprefix="/nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/lego_setup_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 </param>
</group>

<group name="2FOC">
<group name="AMCBLDC">
<param name="HasHallSensor"> 1 </param>
<param name="HasTempSensor"> 0 </param>
<param name="HasRotorEncoder"> 1 </param>
Expand Down
8 changes: 4 additions & 4 deletions ...rimentalSetups/lego_setup_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,15 @@
</group>

<group name="CANBOARDS">
<param name="type"> foc </param>
<param name="type"> amcbldc </param>
<group name="PROTOCOL">
<param name="major"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="build"> 7 </param>
</group>
</group>

Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/lego_setup_ems_amcbldc/new_forearm-no_hand.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?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="new_forearm" build="1" portprefix="nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="new_forearm" build="1" portprefix="/nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="2FOC">
<group name="AMCBLDC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
Expand Down
6 changes: 3 additions & 3 deletions ...alSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,13 +16,13 @@
<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<group name="PROTOCOL">
<param name="major"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="build"> 7 </param>
</group>
</group>

Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/wristmk2_handmk3_amc_amcbldc/new_forearm-no_hand.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?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="new_forearm" build="1" portprefix="nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="new_forearm" build="1" portprefix="/nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand Down
8 changes: 4 additions & 4 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
<param name="Gearbox_M2J"> -384.44 -384.44 -384.44 </param>
<param name="Gearbox_E2J"> 1.778 1.778 1.778 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
</group>

Expand All @@ -25,11 +25,11 @@
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="2FOC">
<group name="AMCBLDC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
<param name="HasRotorEncoderIndex"> 0 0 0 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
<param name="RotorIndexOffset"> 0 0 0 </param>
<param name="MotorPoles"> 14 14 14 </param>
Expand Down
6 changes: 3 additions & 3 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,9 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -30 -30 -30 </param>
<param name="kd"> -10 -10 -10 </param>
<param name="ki"> -100 -100 -100 </param>
<param name="kp"> -67 -67 -67 </param>
<param name="kd"> -11 -11 -11 </param>
<param name="ki"> -294 -294 -294 </param>
<param name="maxOutput"> 500 500 500 </param>
<param name="maxInt"> 200 200 200 </param>
<param name="stictionUp"> 0 0 0 </param>
Expand Down
14 changes: 7 additions & 7 deletions ...alSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,15 @@
</group>

<group name="CANBOARDS">
<param name="type"> foc </param>
<param name="type"> amcbldc </param>
<group name="PROTOCOL">
<param name="major"> 0 </param>
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 0 </param>
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 0 </param>
<param name="build"> 7 </param>
</group>
</group>

Expand All @@ -42,11 +42,11 @@
</group>

<group name="ENCODER2">
<param name="type"> roie roie roie </param>
<param name="type"> none none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 16000 16000 16000 </param>
<param name="tolerance"> 0 0 0 </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
</group>

</group>
Expand Down
2 changes: 1 addition & 1 deletion experimentalSetups/wristmk2_handmk3_ems_amcbldc/new_forearm-no_hand.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?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="new_forearm" build="1" portprefix="nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="new_forearm" build="1" portprefix="/nfa" xmlns:xi="http://www.w3.org/2001/XInclude">
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>
Expand Down