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SanLordKevinSanLordKevin
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amcfoc lego setup configuration files (#709)
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‎experimentalSetups/lego_setup_amcfoc_advfoc/calibrators/setup-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="setup-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"> 1 </param> <!-- the number of joints of the robot part -->
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<param name="deviceName"> Setup_Calibrator </param>
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</group>
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<group name="HOME">
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<param name="positionHome"> 0 </param>
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<param name="velocityHome"> 10 </param>
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</group>
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<group name="CALIBRATION">
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<param name="calibrationType"> 12 </param>
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<param name="calibration1"> 6865 </param>
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<param name="calibration2"> 0 </param>
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<param name="calibration3"> 0 </param>
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<param name="calibration4"> 0 </param>
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<param name="calibration5"> 0 </param>
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<param name="calibrationZero"> 0 </param>
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<param name="calibrationDelta"> 0 </param>
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<param name="startupPosition"> 0.0 </param>
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<param name="startupVelocity"> 30.0 </param>
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<param name="startupMaxPwm"> 16000 </param>
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<param name="startupPosThreshold"> 2 </param>
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</group>
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<param name="CALIB_ORDER"> (0) </param>
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<action phase="startup" level="10" type="calibrate">
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<param name="target"> setup-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"> setup-mc_remapper </param>
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</action>
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<action phase="interrupt3" level="1" type="abort" />
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</device>

‎experimentalSetups/lego_setup_amcfoc_advfoc/firmwareupdater.ini

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[DRIVERS]
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ETH "eth"

‎experimentalSetups/lego_setup_amcfoc_advfoc/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="setup" build="1">
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<group name="GENERAL">
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<param name="skipCalibration"> false </param>
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<param name="useRawEncoderData"> false </param>
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<param name="verbose"> false </param>
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</group>
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</params>

‎experimentalSetups/lego_setup_amcfoc_advfoc/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="setup" 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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</params>
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‎experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-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="setup" 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"> amcfoc </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"> "amcfoc" </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/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-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="setup" 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"> 1 </param>
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<param name="AxisMap"> 0 </param>
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<param name="AxisName"> "setup_yaw" </param>
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<param name="AxisType"> "revolute" </param>
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<param name="Encoder"> 182.044 </param>
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<param name="fullscalePWM"> 32000 </param>
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<param name="ampsToSensor"> 1000.0 </param>
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<param name="Gearbox_M2J"> -196 </param>
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<param name="Gearbox_E2J"> 1 </param>
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<param name="useMotorSpeedFbk"> 0 </param>
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<param name="MotorType"> "FAULHABER" </param>
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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"> 180 </param>
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<param name="hardwareJntPosMin"> -180 </param>
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<param name="rotorPosMin"> 0 </param>
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<param name="rotorPosMax"> 0 </param>
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</group>
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<group name="AMCBLDC">
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<param name="HasHallSensor"> 1 </param>
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<param name="TemperatureSensorType"> NONE </param>
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<param name="HasRotorEncoder"> 0 </param>
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<param name="HasRotorEncoderIndex"> 0 </param>
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<param name="HasSpeedEncoder"> 0 </param>
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<param name="RotorIndexOffset"> 0 </param>
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<param name="MotorPoles"> 14 </param>
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</group>
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<group name="ADVFOC">
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<param name="Verbose"> 0 </param>
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<param name="AutoCalibration"> 0 </param>
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<param name="HasHallSensor"> 1 </param>
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<param name="TemperatureSensorType"> NONE </param>
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<param name="HasRotorEncoder"> 0 </param>
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<param name="HasRotorEncoderIndex"> 0 </param>
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<param name="HasSpeedEncoder"> 0 </param>
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<param name="RotorIndexOffset"> 0 </param>
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<param name="MotorPoles"> 14 </param>
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</group>
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<group name="COUPLINGS">
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<param name ="matrixJ2M">
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1.0 0.0 0.0 0.0
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0.0 1.0 0.0 0.0
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0.0 0.0 1.0 0.0
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0.0 0.0 0.0 1.0
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</param>
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<param name ="matrixM2J">
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1.0 0.0 0.0 0.0
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0.0 1.0 0.0 0.0
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0.0 0.0 1.0 0.0
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0.0 0.0 0.0 1.0
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</param>
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<param name ="matrixE2J">
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1.00 0.00 0.00 0.00 0.00 0.00
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0.00 1.00 0.00 0.00 0.00 0.00
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0.00 0.00 1.00 0.00 0.00 0.00
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0.00 0.00 0.00 1.00 0.00 0.00
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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"> 1 </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>
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</params>

‎experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-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="setup-eb2-j0_0-mc" type="embObjMotionControl">
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<xi:include href="../../general.xml" />
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<xi:include href="../../hardware/electronics/setup-eb2-j0_0-eln.xml" />
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<xi:include href="../../hardware/mechanicals/setup-eb2-j0_0-mec.xml" />
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<xi:include href="./setup-eb2-j0_0-mc_service.xml" />
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<!-- joint number 0 -->
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<!-- joint name -->
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<group name="LIMITS">
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<param name="jntPosMax"> 180 </param>
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<param name="jntPosMin"> -180 </param>
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<param name="jntVelMax"> 90 </param>
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<param name="motorNominalCurrents"> 1000 </param>
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<param name="motorPeakCurrents"> 1500 </param>
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<param name="motorOverloadCurrents"> 2000 </param>
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<param name="motorPwmLimit"> 16000 </param>
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</group>
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<group name="TIMEOUTS">
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<param name="velocity"> 100 </param>
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</group>
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<group name="IMPEDANCE">
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<param name="stiffness"> 0 </param>
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<param name="damping"> 0 </param>
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</group>
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<group name="CONTROLS">
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<param name="positionControl"> POS_PID_DEFAULT </param>
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<param name="velocityControl"> POS_PID_DEFAULT </param>
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<param name="mixedControl"> POS_PID_DEFAULT </param>
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<param name="torqueControl"> none </param>
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<param name="currentPid"> 2FOC_CUR_CONTROL </param>
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<param name="speedPid"> 2FOC_VEL_CONTROL </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"> current </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 </param>
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<param name="kd"> -10 </param>
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<param name="ki"> -100 </param>
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<param name="maxOutput"> 500 </param>
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<param name="maxInt"> 200 </param>
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<param name="stictionUp"> 0 </param>
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<param name="stictionDown"> 0 </param>
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<param name="kff"> 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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<group name="2FOC_CUR_CONTROL">
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<param name="controlLaw"> low_lev_current </param>
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<param name="fbkControlUnits"> machine_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kp"> 2 </param>
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<param name="kd"> 0 </param>
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<param name="ki"> 500 </param>
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<param name="shift"> 0 </param>
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<param name="maxOutput"> 32000 </param>
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<param name="maxInt"> 32000 </param>
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<param name="kff"> 0 </param>
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</group>
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<group name="2FOC_VEL_CONTROL">
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<param name="controlLaw"> low_lev_speed </param>
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<param name="fbkControlUnits"> machine_units </param>
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<param name="outputControlUnits"> machine_units </param>
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<param name="kff"> 0 </param>
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<param name="kp"> 12 </param>
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<param name="kd"> 0 </param>
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<param name="ki"> 16 </param>
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<param name="shift"> 10 </param>
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<param name="maxOutput"> 32000 </param>
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<param name="maxInt"> 32000 </param>
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</group>
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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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<group name="OTHER_CONTROL_PARAMETERS">
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<param name="deadZone"> 0.0495 </param>
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</group>
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</device>

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