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Update setup to forking condition
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@valegagge
valegagge committed Apr 11, 2024
1 parent ecf533b commit 5f4e9fa
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Showing 7 changed files with 35 additions and 34 deletions.
6 changes: 3 additions & 3 deletions experimentalSetups/upperArmSetup/calibrators/upper_arm-calib.xml
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Expand Up @@ -18,20 +18,20 @@

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 58242 57062 0 36880 </param>
<param name="calibration1"> 58242 57062 57315 36880 </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 </param>
<param name="calibrationDelta"> 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 </param> <!-- To be verified -->
<param name="startupPosition"> 34 50 -10 -20 </param> <!-- To be verified -->
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 32000 32000 32000 32000 </param>
<param name="startupPosThreshold"> 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) (3) </param> <!--(2)-->
<param name="CALIB_ORDER">(3) (2) (1) (0) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">upper_arm-mc_remapper</param>
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2 changes: 1 addition & 1 deletion experimentalSetups/upperArmSetup/hardware/mechanicals/upper_arm-eb1-j0_1-mec.xml
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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="TemperatureSensorType"> PT1000 PT1000 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<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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4 changes: 2 additions & 2 deletions experimentalSetups/upperArmSetup/hardware/mechanicals/upper_arm-eb3-j2_3-mec.xml
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Expand Up @@ -20,8 +20,8 @@

<group name="LIMITS">
<!-- 0 1 -->
<param name="hardwareJntPosMax"> 100 120 </param> <!-- 82 120 -->
<param name="hardwareJntPosMin"> -60 -5 </param> <!-- -52 -5 -->
<param name="hardwareJntPosMax"> 100 10 </param> <!-- 82 120 -->
<param name="hardwareJntPosMin"> -60 -110 </param> <!-- -52 -5 -->
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
</group>
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8 changes: 4 additions & 4 deletions experimentalSetups/upperArmSetup/hardware/motorControl/upper_arm-eb3-j2_3-mc.xml
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Expand Up @@ -13,8 +13,8 @@
<!-- joint number 2 3 -->
<!-- joint name shoulder_yaw elbow -->
<group name="LIMITS">
<param name="jntPosMax"> 80 105 </param>
<param name="jntPosMin"> -50 -3 </param>
<param name="jntPosMax"> 80 3 </param>
<param name="jntPosMin"> -50 -100 </param>
<param name="jntVelMax"> 120 120 </param>
<param name="motorNominalCurrents"> 5000 5000 </param>
<param name="motorPeakCurrents"> 10000 9000 </param>
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<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 0 </param>
<param name="kp"> -1000 -1000 </param>
<param name="kp"> 1000 1000 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -1000 -1000 </param>
<param name="ki"> 1000 1000 </param>
<param name="maxOutput"> 8000 8000 </param>
<param name="maxInt"> 2000 2000 </param>
<param name="stictionUp"> 0 0 </param>
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6 changes: 3 additions & 3 deletions experimentalSetups/upperArmSetup/hardware/motorControl/upper_arm-eb3-j2_3-mc_service.xml
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Expand Up @@ -43,18 +43,18 @@
</group> -->

<group name="ENCODER1">
<param name="type"> none eomc_enc_aksim2 </param>
<param name="type"> eomc_enc_aksim2 eomc_enc_aksim2 </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 524288 524288 </param>
<param name="resolution"> -524288 -524288 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> mrie mrie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> -15040 -15040 </param> <!-- 940 x4 x 4-->
<param name="resolution"> -15040 -15040 </param> <!-- 940 x4 x 4-->
<param name="tolerance"> 3.6 3.6 </param> <!-- To be verified -->
</group>

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36 changes: 18 additions & 18 deletions experimentalSetups/upperArmSetup/sequence-test.posupper_arm
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@@ -1,31 +1,31 @@
<?xml version="1.0" encoding="UTF-8"?>
<Sequence_posupper_arm TotPositions="2" ReferencePart="upper_arm">
<Position Index="0" Timing="2.00">
<Position Index="0" Timing="3.00">
<JointPositions Count="4">
<PosValue>0.00</PosValue>
<PosValue>0.00</PosValue>
<PosValue>0.00</PosValue>
<PosValue>0.00</PosValue>
<PosValue>-2.66</PosValue>
<PosValue>5.06</PosValue>
<PosValue>39.11</PosValue>
<PosValue>18.23</PosValue>
</JointPositions>
<JointVelocities Count="4">
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
</JointVelocities>
</Position>
<Position Index="1" Timing="2.00">
<Position Index="1" Timing="3.00">
<JointPositions Count="4">
<PosValue>-59.04</PosValue>
<PosValue>81.88</PosValue>
<PosValue>-23.40</PosValue>
<PosValue>30.26</PosValue>
<PosValue>-80.68</PosValue>
<PosValue>110.42</PosValue>
<PosValue>-25.97</PosValue>
<PosValue>70.18</PosValue>
</JointPositions>
<JointVelocities Count="4">
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>45.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
<SpeedValue>34.00</SpeedValue>
</JointVelocities>
</Position>
</Sequence_posupper_arm>
7 changes: 4 additions & 3 deletions experimentalSetups/upperArmSetup/telemetry/telemetry.xml
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Expand Up @@ -12,11 +12,12 @@
<param name="logIPidControl">false</param>
<param name="logIAmplifierControl">true</param>
<param name="saveBufferManagerConfiguration">true</param>
<param name="experimentName">test_telemetry_02</param>
<param name="experimentName">test_telemetry_upper_arm</param>
<param name="path">/home/icub/test_telemetry/</param>
<param name="n_samples">100000</param>
<param name="n_samples">500000</param>
<param name="save_periodically">false</param>
<param name="log_period">0.010</param>
<param name="save_period">1000.0</param>
<param name="log_period">0.002</param>
<param name="data_threshold">0</param>
<param name="auto_save">true</param>
<param name="yarp_robot_name">ergoCubSN002S</param>
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