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ergoCubSN001 - neck files updated #564

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merged 10 commits into from
Sep 15, 2023
Merged

ergoCubSN001 - neck files updated #564

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e48ee03
ergoCub001 - tests on neck
davidetome Aug 18, 2023
ec99274
ergoCub001 - tests on neck
davidetome Aug 24, 2023
63de4a2
ergoCub001 - tests on neck
davidetome Aug 24, 2023
5d524a0
ergoCub001 - tests on neck
davidetome Aug 28, 2023
0c299f2
ergoCub001 - tests on neck
davidetome Aug 28, 2023
de4e62b
ergoCub001 - tests on neck
davidetome Sep 4, 2023
4f874bb
ergoCubSN001 - updating neck XML files after testing (fix/#1420)
davidetome Sep 6, 2023
2e7543b
Update head-eb20-j0_1-mc.xml
davidetome Sep 6, 2023
11b7e61
Update head-eb20-j0_1-mc.xml
davidetome Sep 6, 2023
ea36bcb
Update head-eb20-j0_1-mc_service.xml
davidetome Sep 6, 2023
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4 changes: 2 additions & 2 deletions ergoCubSN001/calibrators/head-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,15 +20,15 @@
<!-- joint name neck-pitch neck-roll neck-yaw eyes-tilt -->
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 25220 -17823 61615 52575 </param>
<param name="calibration1"> 62951 -44411 61615 52575 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 </param>

<param name="calibration4"> 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 </param>

<param name="calibrationZero"> 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 0.0 0.0 0.0 0.0 </param>
<param name="calibrationDelta"> 4.0 0.0 0.0 0.0 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 10 10 20.0 20.0 </param>
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45 changes: 25 additions & 20 deletions ergoCubSN001/hardware/motorControl/head-eb20-j0_1-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,56 +15,61 @@
<param name="jntPosMin"> -40 -20 </param>
<param name="jntPosMax"> +22 +20 </param>
<param name="jntVelMax"> 1000 1000 </param>
<param name="motorOverloadCurrents"> 5000 5000 </param>
<param name="motorNominalCurrents"> 2000 2000 </param>
<param name="motorPeakCurrents"> 3000 3000 </param>
<param name="motorOverloadCurrents"> 10000 10000 </param>
<param name="motorNominalCurrents"> 4000 4000 </param>
<param name="motorPeakCurrents"> 6000 6000 </param>
<param name="motorPwmLimit"> 3360 3360 </param>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 100 </param>
<param name="velocity"> 100 100 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0.0 0.0 </param>
<param name="damping"> 0.0 0.0 </param>
<param name="stiffness"> 0.0 0.0 </param>
<param name="damping"> 0.0 0.0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> none none </param>
<param name="currentPid"> none none </param>
<param name="speedPid"> none none </param>
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="torqueControl"> none none </param>
<param name="currentPid"> none none </param>
<param name="speedPid"> none none </param>
</group>


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -180 +178 </param>
<param name="kd"> -5.39 +4.64 </param>
<param name="ki"> -507 +514 </param>
<param name="kp"> -209 +190 </param>
<param name="kd"> -5.6 +4.54 </param>
<param name="ki"> -492 +509 </param>
<param name="maxOutput"> 3360 3360 </param>
<param name="maxInt"> 3360 3360 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
<param name="kff"> 0 0 </param>
</group>

<!-- default position PID: end -->


<!-- other default PIDs: begin -->
<!-- other default PIDs: end -->


<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->



<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0495 0.0495 </param>
</group>

</device>
26 changes: 12 additions & 14 deletions ergoCubSN001/hardware/motorControl/head-eb20-j0_1-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,35 +10,33 @@
<group name="PROPERTIES">

<group name="ETHBOARD">
<param name="type"> mc4plus </param>
<param name="type"> mc4plus </param>
</group>


<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> pwm pwm </param>
<param name="port"> CONN:P3 CONN:P4 </param>
<param name="type"> pwm pwm </param>
<param name="port"> CONN:P3P CONN:P4P </param>
</group>

<group name="ENCODER1">
<param name="type"> aea aea </param>
<param name="type"> aea3 aea3 </param>
<param name="port"> CONN:P11 CONN:P10 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 4096 -4096 </param>
<param name="resolution"> 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> qenc qenc </param>
<param name="port"> CONN:P3 CONN:P4 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 2048 2048 </param>
<param name="tolerance"> 0 0 </param>
</group>

<param name="type"> qenc qenc </param>
<param name="port"> CONN:P3 CONN:P4 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 2048 2048 </param>
<param name="tolerance"> 0 0 </param>
</group>
</group>

</group>

</group>
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