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[ergoCubSN000] Ready to use temperature sensors #666

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merged 1 commit into from
Jul 8, 2024
Merged

[ergoCubSN000] Ready to use temperature sensors #666

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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated-->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
<param name="Verbose"> 0 0 0 </param>
<param name="AutoCalibration"> 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
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2 changes: 2 additions & 0 deletions ergoCubSN000/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 12000 12000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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2 changes: 2 additions & 0 deletions ergoCubSN000/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 9000 9000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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9 changes: 9 additions & 0 deletions ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,15 @@
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- Below are safe limits for the hip roll in case no temperature sensor is used. -->
<!--
<param name="motorNominalCurrents"> 15000 5000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 10000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 15000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 18000 16000 16000 </param>
-->
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
9 changes: 9 additions & 0 deletions ergoCubSN000/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,15 @@
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- Below are safe limits for the anke roll in case no temperature sensor is used. -->
<!--
<param name="motorNominalCurrents"> 10000 5000 </param>
<param name="motorPeakCurrents"> 15000 10000 </param>
<param name="motorOverloadCurrents"> 30000 15000 </param>
<param name="motorPwmLimit"> 16000 18000 </param>
-->
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
2 changes: 2 additions & 0 deletions ergoCubSN000/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@
<param name="motorPeakCurrents"> 12000 12000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
2 changes: 2 additions & 0 deletions ergoCubSN000/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 9000 9000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
9 changes: 9 additions & 0 deletions ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,15 @@
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- Below are safe limits for the hip roll in case no temperature sensor is used. -->
<!--
<param name="motorNominalCurrents"> 15000 5000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 10000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 15000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 18000 16000 16000 </param>
-->
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
9 changes: 9 additions & 0 deletions ergoCubSN000/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,15 @@
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- Below are safe limits for the anke roll in case no temperature sensor is used. -->
<!--
<param name="motorNominalCurrents"> 10000 5000 </param>
<param name="motorPeakCurrents"> 15000 10000 </param>
<param name="motorOverloadCurrents"> 30000 15000 </param>
<param name="motorPwmLimit"> 16000 18000 </param>
-->
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
2 changes: 2 additions & 0 deletions ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@
<param name="motorPeakCurrents"> 14000 17000 17000 </param>
<param name="motorOverloadCurrents"> 18000 18000 18000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down