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marcoaccamemarcoaccame
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The amc board uses ICC and CAN to move the wrist of ergoCub (#623)
1 parent d319764 commit f26b1fe

27 files changed

+682
-80
lines changed

‎ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
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<param name="rotorPosMax"> 0 0 0 </param>
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</group>
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28-
<group name="AMCBLDC">
28+
<group name="ADVFOC">
2929
<param name="HasHallSensor"> 1 1 1 </param>
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<param name="HasTempSensor"> 0 0 0 </param>
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<param name="HasRotorEncoder"> 0 0 0 </param>

‎ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
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<param name="rotorPosMax"> 0 0 0 </param>
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</group>
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28-
<group name="AMCBLDC">
28+
<group name="ADVFOC">
2929
<param name="HasHallSensor"> 1 1 1 </param>
3030
<param name="HasTempSensor"> 0 0 0 </param>
3131
<param name="HasRotorEncoder"> 0 0 0 </param>

‎ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml

+13-12
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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66
<group name="SERVICE">
77

8-
<param name="type"> eomn_serv_MC_foc </param>
8+
<param name="type"> eomn_serv_MC_advfoc </param>
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1010
<group name="PROPERTIES">
1111

@@ -14,23 +14,24 @@
1414
</group>
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1616
<group name="CANBOARDS">
17-
<param name="type"> amcbldc </param>
17+
<param name="type"> amcbldc amc2c </param>
1818
<group name="PROTOCOL">
19-
<param name="major"> 2 </param>
20-
<param name="minor"> 0 </param>
19+
<param name="major"> 2 2 </param>
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<param name="minor"> 0 0 </param>
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</group>
2222
<group name="FIRMWARE">
23-
<param name="major"> 2 </param>
24-
<param name="minor"> 0 </param>
25-
<param name="build"> 4 </param>
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<param name="major"> 2 3 </param>
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<param name="minor"> 0 0 </param>
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<param name="build"> 10 0 </param>
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</group>
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</group>
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<group name="JOINTMAPPING">
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<group name="ACTUATOR">
32-
<param name="type"> foc foc foc </param>
33-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
32+
<param name="type"> advfoc advfoc advfoc </param>
33+
<param name="onboard"> amcbldc amcbldc amc2c </param>
34+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
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</group>
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<group name="ENCODER1">
@@ -43,10 +44,10 @@
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<group name="ENCODER2">
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<param name="type"> none none none </param>
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<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
47+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
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<param name="position"> atmotor atmotor atmotor </param>
48-
<param name="resolution"> 0 0 0 </param>
49-
<param name="tolerance"> 0 0 0 </param>
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<param name="resolution"> 0 0 0 </param>
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<param name="tolerance"> 0 0 0 </param>
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</group>
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</group>

‎ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml

+15-14
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55

66
<group name="SERVICE">
77

8-
<param name="type"> eomn_serv_MC_foc </param>
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<param name="type"> eomn_serv_MC_advfoc </param>
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1010
<group name="PROPERTIES">
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@@ -14,23 +14,24 @@
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</group>
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1616
<group name="CANBOARDS">
17-
<param name="type"> amcbldc </param>
17+
<param name="type"> amcbldc amc2c </param>
1818
<group name="PROTOCOL">
19-
<param name="major"> 2 </param>
20-
<param name="minor"> 0 </param>
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<param name="major"> 2 2 </param>
20+
<param name="minor"> 0 0 </param>
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</group>
2222
<group name="FIRMWARE">
23-
<param name="major"> 2 </param>
24-
<param name="minor"> 0 </param>
25-
<param name="build"> 4 </param>
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<param name="major"> 2 3 </param>
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<param name="minor"> 0 0 </param>
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<param name="build"> 10 0 </param>
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</group>
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</group>
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<group name="JOINTMAPPING">
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<group name="ACTUATOR">
32-
<param name="type"> foc foc foc </param>
33-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
32+
<param name="type"> advfoc advfoc advfoc </param>
33+
<param name="onboard"> amcbldc amcbldc amc2c </param>
34+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
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</group>
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<group name="ENCODER1">
@@ -42,11 +43,11 @@
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</group>
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<group name="ENCODER2">
45-
<param name="type"> none none none </param>
46-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
47-
<param name="position"> atmotor atmotor atmotor </param>
48-
<param name="resolution"> 0 0 0 </param>
49-
<param name="tolerance"> 0 0 0 </param>
46+
<param name="type"> none none none </param>
47+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
48+
<param name="position"> atmotor atmotor atmotor </param>
49+
<param name="resolution"> 0 0 0 </param>
50+
<param name="tolerance"> 0 0 0 </param>
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</group>
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</group>

‎ergoCubSN002/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml

+1-1
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@@ -25,7 +25,7 @@
2525
<param name="rotorPosMax"> 0 0 0 </param>
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</group>
2727

28-
<group name="AMCBLDC">
28+
<group name="ADVFOC">
2929
<param name="HasHallSensor"> 1 1 1 </param>
3030
<param name="HasTempSensor"> 0 0 0 </param>
3131
<param name="HasRotorEncoder"> 0 0 0 </param>

‎ergoCubSN002/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
2525
<param name="rotorPosMax"> 0 0 0 </param>
2626
</group>
2727

28-
<group name="AMCBLDC">
28+
<group name="ADVFOC">
2929
<param name="HasHallSensor"> 1 1 1 </param>
3030
<param name="HasTempSensor"> 0 0 0 </param>
3131
<param name="HasRotorEncoder"> 0 0 0 </param>

‎ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml

+13-12
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55

66
<group name="SERVICE">
77

8-
<param name="type"> eomn_serv_MC_foc </param>
8+
<param name="type"> eomn_serv_MC_advfoc </param>
99

1010
<group name="PROPERTIES">
1111

@@ -14,23 +14,24 @@
1414
</group>
1515

1616
<group name="CANBOARDS">
17-
<param name="type"> amcbldc </param>
17+
<param name="type"> amcbldc amc2c </param>
1818
<group name="PROTOCOL">
19-
<param name="major"> 2 </param>
20-
<param name="minor"> 0 </param>
19+
<param name="major"> 2 2 </param>
20+
<param name="minor"> 0 0 </param>
2121
</group>
2222
<group name="FIRMWARE">
23-
<param name="major"> 2 </param>
24-
<param name="minor"> 0 </param>
25-
<param name="build"> 4 </param>
23+
<param name="major"> 2 3 </param>
24+
<param name="minor"> 0 0 </param>
25+
<param name="build"> 10 0 </param>
2626
</group>
2727
</group>
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2929
<group name="JOINTMAPPING">
3030

3131
<group name="ACTUATOR">
32-
<param name="type"> foc foc foc </param>
33-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
32+
<param name="type"> advfoc advfoc advfoc </param>
33+
<param name="onboard"> amcbldc amcbldc amc2c </param>
34+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
3435
</group>
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3637
<group name="ENCODER1">
@@ -43,10 +44,10 @@
4344

4445
<group name="ENCODER2">
4546
<param name="type"> none none none </param>
46-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
47+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
4748
<param name="position"> atmotor atmotor atmotor </param>
48-
<param name="resolution"> 0 0 0 </param>
49-
<param name="tolerance"> 0 0 0 </param>
49+
<param name="resolution"> 0 0 0 </param>
50+
<param name="tolerance"> 0 0 0 </param>
5051
</group>
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</group>

‎ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml

+15-14
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@@ -5,7 +5,7 @@
55

66
<group name="SERVICE">
77

8-
<param name="type"> eomn_serv_MC_foc </param>
8+
<param name="type"> eomn_serv_MC_advfoc </param>
99

1010
<group name="PROPERTIES">
1111

@@ -14,23 +14,24 @@
1414
</group>
1515

1616
<group name="CANBOARDS">
17-
<param name="type"> amcbldc </param>
17+
<param name="type"> amcbldc amc2c </param>
1818
<group name="PROTOCOL">
19-
<param name="major"> 2 </param>
20-
<param name="minor"> 0 </param>
19+
<param name="major"> 2 2 </param>
20+
<param name="minor"> 0 0 </param>
2121
</group>
2222
<group name="FIRMWARE">
23-
<param name="major"> 2 </param>
24-
<param name="minor"> 0 </param>
25-
<param name="build"> 4 </param>
23+
<param name="major"> 2 3 </param>
24+
<param name="minor"> 0 0 </param>
25+
<param name="build"> 10 0 </param>
2626
</group>
2727
</group>
2828

2929
<group name="JOINTMAPPING">
3030

3131
<group name="ACTUATOR">
32-
<param name="type"> foc foc foc </param>
33-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
32+
<param name="type"> advfoc advfoc advfoc </param>
33+
<param name="onboard"> amcbldc amcbldc amc2c </param>
34+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
3435
</group>
3536

3637
<group name="ENCODER1">
@@ -42,11 +43,11 @@
4243
</group>
4344

4445
<group name="ENCODER2">
45-
<param name="type"> none none none </param>
46-
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
47-
<param name="position"> atmotor atmotor atmotor </param>
48-
<param name="resolution"> 0 0 0 </param>
49-
<param name="tolerance"> 0 0 0 </param>
46+
<param name="type"> none none none </param>
47+
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
48+
<param name="position"> atmotor atmotor atmotor </param>
49+
<param name="resolution"> 0 0 0 </param>
50+
<param name="tolerance"> 0 0 0 </param>
5051
</group>
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</group>

‎experimentalSetups/lego_setup_amc_advfoc/calibrators/setup-calib.xml

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1+
<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="setup-calibrator" type="parametricCalibratorEth">
5+
6+
<xi:include href="../general.xml" />
7+
8+
<group name="GENERAL">
9+
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
10+
<param name="deviceName"> Setup_Calibrator </param>
11+
</group>
12+
13+
<group name="HOME">
14+
<param name="positionHome"> 0 </param>
15+
<param name="velocityHome"> 10 </param>
16+
</group>
17+
18+
<group name="CALIBRATION">
19+
<param name="calibrationType"> 12 </param>
20+
21+
<param name="calibration1"> 6865 </param>
22+
<param name="calibration2"> 0 </param>
23+
<param name="calibration3"> 0 </param>
24+
<param name="calibration4"> 0 </param>
25+
<param name="calibration5"> 0 </param>
26+
<param name="calibrationZero"> 0 </param>
27+
<param name="calibrationDelta"> 0 </param>
28+
29+
<param name="startupPosition"> 0.0 </param>
30+
<param name="startupVelocity"> 30.0 </param>
31+
<param name="startupMaxPwm"> 16000 </param>
32+
<param name="startupPosThreshold"> 2 </param>
33+
</group>
34+
35+
<param name="CALIB_ORDER"> (0) </param>
36+
37+
<action phase="startup" level="10" type="calibrate">
38+
<param name="target">setup-mc_remapper</param>
39+
</action>
40+
41+
<action phase="interrupt1" level="1" type="park">
42+
<param name="target">setup-mc_remapper</param>
43+
</action>
44+
45+
<action phase="interrupt3" level="1" type="abort" />
46+
47+
</device>

‎experimentalSetups/lego_setup_amc_advfoc/firmwareupdater.ini

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[DRIVERS]
2+
ETH "eth"

‎experimentalSetups/lego_setup_amc_advfoc/general.xml

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1+
<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
5+
6+
<group name="GENERAL">
7+
<param name="skipCalibration"> false </param>
8+
<param name="useRawEncoderData"> false </param>
9+
<param name="useLimitedPWM"> false </param>
10+
<param name="verbose"> false </param>
11+
</group>
12+
</params>

‎experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/pc104.xml

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<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
5+
6+
<group name="PC104">
7+
<param name="PC104IpAddress"> 10.0.1.104 </param>
8+
<param name="PC104IpPort"> 12345 </param>
9+
<param name="PC104TXrate"> 1 </param>
10+
<param name="PC104RXrate"> 5 </param>
11+
</group>
12+
13+
</params>
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‎experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml

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<?xml version="1.0" encoding="UTF-8" ?>
2+
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
3+
4+
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
5+
6+
<xi:include href="./pc104.xml" />
7+
8+
<group name="ETH_BOARD">
9+
10+
<group name="ETH_BOARD_PROPERTIES">
11+
<param name="IpAddress"> 10.0.1.1 </param>
12+
<param name="IpPort"> 12345 </param>
13+
<param name="Type"> amc </param>
14+
<param name="maxSizeRXpacket"> 768 </param>
15+
<param name="maxSizeROP"> 384 </param>
16+
</group>
17+
18+
<group name="ETH_BOARD_SETTINGS">
19+
<param name="Name"> "setup-eb2-j0_2" </param>
20+
<group name="RUNNINGMODE">
21+
<param name="period"> 1000 </param>
22+
<param name="maxTimeOfRXactivity"> 400 </param>
23+
<param name="maxTimeOfDOactivity"> 300 </param>
24+
<param name="maxTimeOfTXactivity"> 300 </param>
25+
<param name="TXrateOfRegularROPs"> 5 </param>
26+
</group>
27+
</group>
28+
29+
<group name="ETH_BOARD_ACTIONS">
30+
<group name="MONITOR_ITS_PRESENCE">
31+
<param name="enabled"> true </param>
32+
<param name="timeout"> 0.020 </param>
33+
<param name="periodOfMissingReport"> 60.0 </param>
34+
</group>
35+
</group>
36+
37+
</group>
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</params>
40+

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