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Full configuration file for test bench arm setup calib type6 FAP (#449)
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‎experimentalSetups/ecub-hand-mc4plusfap/calibrators/left_arm-calib.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-calibrator" type="parametricCalibratorEth">
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<xi:include href="../general.xml" />
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<group name="GENERAL">
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<param name="joints">3</param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> Left_Arm_Calibrator </param>
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</group>
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<group name="HOME">
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<param name="positionHome"> 30.00 30.00 30.00 </param>
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<param name="velocityHome"> 40.00 40.00 40.00 </param>
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</group>
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<!-- For calibration type 6 the calibration values define what follows:
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calibration1: not used - keep at 0
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calibration2: speed during calibration in icubdeg/s
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calibration3: 1 or -1 depending if set as target vmax or vmin, respectively
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calibration4: vmin
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calibration5: vmax in icubdegree -> icubdeg = deg * (2^16 / 360)
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-->
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<group name="CALIBRATION">
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<param name="calibrationType"> 6 6 6 </param>
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<param name="calibration1"> 0 0 0 </param>
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<param name="calibration2"> 9102 9102 9102 </param>
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<param name="calibration3"> 1 1 1 </param>
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<param name="calibration4"> 0 0 0 </param>
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<param name="calibration5"> 11833 14564 14564 </param>
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<param name="calibrationZero"> 0 0 0 </param>
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<param name="calibrationDelta"> 0 0 0 </param>
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<param name="startupPosition"> 0.0 0.0 0.0 </param>
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<param name="startupVelocity"> 0.0 0.0 0.0 </param>
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<param name="startupMaxPwm"> 0 0 0 </param>
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<param name="startupPosThreshold"> 0 0 0 </param>
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</group>
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<!-- motor's encoder of joint 7 can't read -->
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<param name="CALIB_ORDER"> (2) (1) (0)</param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target">left_arm-mc_remapper</param>
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</action>
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<action phase="interrupt1" level="1" type="park">
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<param name="target">left_arm-mc_remapper</param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />
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</device>
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‎experimentalSetups/ecub-hand-mc4plusfap/firmwareupdater.ini‎

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[DRIVERS]
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ETH "eth"

‎experimentalSetups/ecub-hand-mc4plusfap/general.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<group name="GENERAL">
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<param name="skipCalibration"> true </param>
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<param name="useRawEncoderData"> false </param>
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<param name="useLimitedPWM"> false </param>
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<param name="verbose"> false </param>
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</group>
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</params>

‎experimentalSetups/ecub-hand-mc4plusfap/hardware/POS/left_hand-pos4.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_hand-pos4" type="embObjPOS">
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<xi:include href="../../general.xml" />
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<xi:include href="../../hardware/electronics/left_arm-eb23-j7_10-eln.xml" />
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<group name="SERVICE">
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<param name="type"> eomn_serv_AS_pos </param>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> eobrd_mtb4fap </param>
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<group name="PROTOCOL">
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<param name="major"> 2 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 1 </param>
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<param name="minor"> 1 </param>
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<param name="build"> 0 </param>
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</group>
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</group>
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<group name="SENSORS">
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<param name="location"> CAN1:2 CAN1:2 CAN1:2 </param>
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<!-- common to all analog services -->
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<param name="id"> id_fapAA id_fapBB id_fapCC </param>
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<param name="type"> eoas_pos_angle eoas_pos_angle eoas_pos_angle </param>
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<param name="port"> POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc </param> <!-- According to convention, the full order is: POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc -->
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<param name="boardType"> mtb4fap mtb4fap mtb4fap </param>
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<param name="connector"> CONN:J3_SDA3 CONN:J3_SDA1 CONN:J3_SDA2 </param> <!-- J2 does not work because of sw bug even if it is compliant with the serigraphy, keep J3-->
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<group name="CALIBRATION">
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<!-- it is not mandatory. if not present, sensors have defaults: TYPE:decideg, ROT:zero, 0.0, false -->
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<param name="type"> TYPE:decideg TYPE:decideg TYPE:decideg </param>
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<param name="rotation"> ROT:zero ROT:zero ROT:plus180 </param>
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<param name="offset"> 0 -166.2 -124.7 </param>
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<param name="invertDirection"> false false false </param>
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</group>
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</group>
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</group>
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<group name="SETTINGS">
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<param name="acquisitionRate"> 50 </param> <!-- milliseconds -->
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<param name="enabledSensors"> id_fapAA id_fapBB id_fapCC</param>
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</group>
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</group>
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</device>

‎experimentalSetups/ecub-hand-mc4plusfap/hardware/electronics/left_arm-eb23-j7_10-eln.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<xi:include href="./pc104.xml" />
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<group name="ETH_BOARD">
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<group name="ETH_BOARD_PROPERTIES">
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<param name="IpAddress"> 10.0.1.1 </param>
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<param name="IpPort"> 12345 </param>
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<param name="Type"> mc4plus </param>
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<param name="maxSizeRXpacket"> 768 </param>
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<param name="maxSizeROP"> 384 </param>
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</group>
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<group name="ETH_BOARD_SETTINGS">
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<param name="Name"> "left_arm-eb23-j7_10" </param>
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<group name="RUNNINGMODE">
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<param name="period"> 1000 </param>
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<param name="maxTimeOfRXactivity"> 400 </param>
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<param name="maxTimeOfDOactivity"> 300 </param>
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<param name="maxTimeOfTXactivity"> 300 </param>
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<param name="TXrateOfRegularROPs"> 5 </param>
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</group>
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</group>
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<group name="ETH_BOARD_ACTIONS">
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<group name="MONITOR_ITS_PRESENCE">
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<param name="enabled"> true </param>
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<param name="timeout"> 0.020 </param>
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<param name="periodOfMissingReport"> 60.0 </param>
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</group>
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</group>
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</group>
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</params>
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‎experimentalSetups/ecub-hand-mc4plusfap/hardware/electronics/pc104.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<group name="PC104">
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<param name="PC104IpAddress"> 10.0.1.104 </param>
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<param name="PC104IpPort"> 12345 </param>
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<param name="PC104TXrate"> 1 </param>
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<param name="PC104RXrate"> 5 </param>
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</group>
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<group name="DEBUG">
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<param name="embBoardsConnected"> 1 </param>
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</group>
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</params>
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‎experimentalSetups/ecub-hand-mc4plusfap/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<group name="GENERAL">
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<param name="MotioncontrolVersion"> 6 </param>
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<param name="Joints"> 3 </param>
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<!-- joint number in sub-part 0 1 2 3 -->
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<!-- joint name -->
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<param name="AxisMap"> 0 1 2 </param>
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<param name="AxisName"> "l_thumb_oc" "l_index_oc" "l_middle_oc" </param>
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<param name="AxisType"> "revolute" "revolute" "revolute" </param>
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<param name="Encoder"> 182.044 182.044 182.044 </param>
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<param name="fullscalePWM"> 3360 3360 3360 </param>
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<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> 16 159 159 </param> <!-- real value: 159 - await PR to solve this problem -->
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<param name="Gearbox_E2J"> 1 1 1 </param>
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<param name="useMotorSpeedFbk"> 0 0 0 </param>
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<param name="MotorType"> "DC" "DC" "DC" </param>
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<!-- NOTE: Keep attention to these details: it should be noted that on this setup encoder on the thumb is not registering the index, encoder on the middle has issue with ticks reading-->
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<param name="Verbose"> 0 </param>
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</group>
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<group name="LIMITS">
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<param name="hardwareJntPosMax"> 90 90 90 </param>
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<param name="hardwareJntPosMin"> 0 0 0 </param>
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<param name="rotorPosMin"> 0 -28000 -2000 </param>
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<param name="rotorPosMax"> 0 3500 28000 </param>
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</group>
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<group name="COUPLINGS">
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<param name ="matrixJ2M">
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1.000 0.000 0.000 0.000
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0.000 1.000 0.000 0.000
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0.000 0.000 1.000 0.000
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0.000 0.000 0.000 1.000
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</param>
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<param name ="matrixM2J">
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1.000 0.000 0.000 0.000
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0.000 1.000 0.000 0.000
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0.000 0.000 1.000 0.000
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0.000 0.000 0.000 1.000
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</param>
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<param name ="matrixE2J">
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1.000 0.000 0.000 0.000 0.000 0.000
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0.000 1.000 0.000 0.000 0.000 0.000
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0.000 0.000 1.000 0.000 0.000 0.000
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0.000 0.000 0.000 1.000 0.000 0.000
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</param>
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</group>
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<group name="JOINTSET_CFG">
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<param name= "numberofsets"> 3 </param>
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<group name="JOINTSET_0">
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<param name="listofjoints"> 0 </param>
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<param name="constraint"> none </param>
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<param name="param1"> 0 </param>
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<param name="param2"> 0 </param>
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</group>
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<group name="JOINTSET_1">
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<param name="listofjoints"> 1 </param>
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<param name="constraint"> none </param>
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<param name="param1"> 0 </param>
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<param name="param2"> 0 </param>
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</group>
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<group name="JOINTSET_2">
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<param name="listofjoints"> 2 </param>
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<param name="constraint"> none </param>
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<param name="param1"> 0 </param>
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<param name="param2"> 0 </param>
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</group>
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</group>
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</params>

‎experimentalSetups/ecub-hand-mc4plusfap/hardware/motorControl/left_arm-eb23-j7_10-mc.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm-eb23-j7_10-mc" type="embObjMotionControl">
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<xi:include href="../../general.xml" />
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<xi:include href="../electronics/left_arm-eb23-j7_10-eln.xml" />
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<xi:include href="../mechanicals/left_arm-eb23-j7_10-mec.xml" />
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<xi:include href="../motorControl/left_arm-eb23-j7_10-mc_service.xml" />
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<!-- joint number 0 1 2 3 -->
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<!-- joint name hand_thumb_oc hand_index_oc hand_middle_oc hand_ring_pinky_oc -->
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<group name="LIMITS">
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<param name="jntPosMin"> 4 4 4 </param>
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<param name="jntPosMax"> 72 85 85 </param>
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<param name="jntVelMax"> 1000 1000 1000 </param>
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<param name="motorOverloadCurrents"> 2000 2000 2000 </param>
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<param name="motorNominalCurrents"> 700 700 700 </param>
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<param name="motorPeakCurrents"> 1500 1500 1500 </param>
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<param name="motorPwmLimit"> 3360 3360 3360 </param>
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</group>
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<group name="TIMEOUTS">
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<param name="velocity"> 100 100 100 </param>
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</group>
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<group name="IMPEDANCE">
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<param name="stiffness"> 0.0 0.0 0.0 </param>
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<param name="damping"> 0.0 0.0 0.0 </param>
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</group>
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<group name="CONTROLS">
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<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
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<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
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<param name="mixedControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
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<param name="torqueControl"> none none none </param>
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<param name="currentPid"> none none none </param>
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<param name="speedPid"> none none none </param>
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</group>
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<!-- default position PID: begin -->
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<group name="POS_PID_DEFAULT">
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<param name="controlLaw"> minjerk </param>
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kp"> +30 +30 -30 </param>
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<param name="kd"> 0 0 0 </param>
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<param name="ki"> +10 +10 -10 </param>
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<param name="maxOutput"> 3360 3360 3360 </param>
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<param name="maxInt"> 1000 1000 1000 </param>
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<param name="stictionUp"> 0 0 0 </param>
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<param name="stictionDown"> 0 0 0 </param>
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<param name="kff"> 0 0 0 </param>
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</group>
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<!-- default position PID: end -->
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<!-- other default PIDs: begin -->
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<!-- other default PIDs: end -->
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<!-- custom PIDs: begin -->
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<!-- custom PIDs: end -->
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</device>
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