Kbemf (back EMF constant) added to templates.

[ale-git]

2foc Kbemf (back EMF constant) has been added to templates in hardware/mechanicals.

[gemini-code-assist]

Summary of Changes

Hello @ale-git, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request enhances the existing robot configuration templates by incorporating a new motor parameter, Kbemf. This addition allows for more precise definition of motor characteristics within the hardware configuration, which is vital for advanced motor control algorithms like Field-Oriented Control (FOC).

Highlights

• New Motor Parameter: Introduces the Kbemf (Back EMF constant) parameter into the body_part-ebX-jA_B-mec.xml template, which is crucial for motor characterization in robotic systems.

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[gemini-code-assist]

Code Review

This pull request adds the Kbemf (back EMF constant) parameter to the ADVFOC group in the body_part-ebX-jA_B-mec.xml template. My review identifies a significant inconsistency: the new parameter is not added to the 2FOC group. This contradicts the pull request description, which mentions 2foc, and a comment within the file indicating that the 2FOC and ADVFOC groups should share the same syntax. Addressing this is important for code consistency and maintainability.

[pattacini]

Hi @valegagge, @marcoaccame
Is it ok to merge this PR, eventually?

[marcoaccame]

Hi @valegagge, @marcoaccame Is it ok to merge this PR, eventually?

The PR is linked to

• 2foc kbemf added in hardware/mechanicals  icub-firmware-shared#119
• 2foc Kbemf parameter added to 2FOC motor configuration file parser. icub-main#1040

and others. I believe we shall soon start the merging dance.

[valegagge]

Hi @ale-git ,
I just noticed 2 points:

1. that the kbemf in the 2foc group is in machine units. Perhaps it would be worth indicating how to transform the kbemf parameter into machine units. What do you think?
2. the kbemf parameter is in machine units in ADVFOC also. Are we sure that it is in machine units and not in metric units?

Thanks for clarifying my doubts

[ale-git]

Hi @valegagge, about point 2 the Kbemf is always expressed in machine units in the sense that no conversion is done by embObjMotionControl, but consider that in ADVFOC boards the machine units are just metric units.

[ale-git]

About point 1, the conversion works as follows:

$$ K_{bemf}^{machine} = K_{bemf}^{metric} \frac{PWM_{fullscale}}{V_{cc}} \frac{360 deg}{65536 icubdeg} \frac{1000 ms}{1 s} $$

where metric units Kbemf is expressed in V/(deg/s)=(V s)/deg

[valegagge]

thanks @pattacini !!!!