-
Notifications
You must be signed in to change notification settings - Fork 69
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Expose BMS on ergoCubSN000 via
battery_nws_yarp (#514)
- Loading branch information
1 parent
97d7432
commit 2c6dfcc
Showing
6 changed files
with
87 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?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="ergoCubSN000" build="1" portprefix="/ergocub" xmlns:xi="http://www.w3.org/2001/XInclude"> | ||
|
|
||
| <devices> | ||
| <xi:include href="hardware/battery/battery.xml" /> | ||
| <xi:include href="wrappers/battery/battery.xml" /> | ||
| </devices> | ||
|
|
||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <!DOCTYPE device 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="canbattery" type="embObjBattery"> | ||
|
|
||
| <xi:include href="../../general.xml" /> | ||
| <xi:include href="../electronics/left_arm-eb2-j0_1-eln.xml" /> | ||
|
|
||
| <group name="SERVICE"> | ||
|
|
||
| <param name="type"> eomn_serv_AS_battery </param> | ||
|
|
||
| <group name="PROPERTIES"> | ||
|
|
||
| <group name="CANBOARDS"> | ||
| <param name="type"> bms </param> | ||
|
|
||
| <group name="PROTOCOL"> | ||
| <param name="major"> 0 </param> | ||
| <param name="minor"> 0 </param> | ||
| </group> | ||
| <group name="FIRMWARE"> | ||
| <param name="major"> 1 </param> | ||
| <param name="minor"> 2 </param> | ||
| <param name="build"> 0 </param> | ||
| </group> | ||
| </group> | ||
|
|
||
| <group name="SENSORS"> | ||
| <param name="id"> battery1 </param> | ||
| <param name="board"> bms </param> | ||
| <param name="location"> CAN1:1 </param> | ||
| </group> | ||
|
|
||
| </group> | ||
|
|
||
|
|
||
| <group name="SETTINGS"> | ||
| <param name="enabledSensors"> battery1 </param> | ||
| <param name="acquisitionRate"> 1000 </param> <!-- msec --> | ||
| </group> | ||
|
|
||
|
|
||
| </group> | ||
|
|
||
| </device> | ||
|
|
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!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="battery_wrapper" type="battery_nws_yarp"> | ||
| <param name="period"> 1.0 </param> | ||
| <param name="name"> /ergocub/battery </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-strain.xml file --> | ||
| <elem name="battery"> canbattery </elem> | ||
| </paramlist> | ||
| </action> | ||
|
|
||
| <action phase="shutdown" level="5" type="detach" /> | ||
| </device> | ||
|
|