From 494050fa61929eff3c78be57c1b30449cf6f40fc Mon Sep 17 00:00:00 2001 From: Simeone Dussoni <31098248+simeonedussoni@users.noreply.github.com> Date: Fri, 27 Oct 2023 16:56:49 +0200 Subject: [PATCH] updated documentation for fingertips mk.2 (#323) Co-authored-by: Ugo Pattacini --- docs/hands/fingertip_and_mma_mk5.md | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/docs/hands/fingertip_and_mma_mk5.md b/docs/hands/fingertip_and_mma_mk5.md index 863dfb8fc..3b9d35ba4 100644 --- a/docs/hands/fingertip_and_mma_mk5.md +++ b/docs/hands/fingertip_and_mma_mk5.md @@ -46,21 +46,24 @@ The complete configuration set is as follow: |ring | 0 | 1 | no | 1 | 17546 | |pink | 1 | 0 | no | 0 | 17545 | -#### ergoCub SN001 +#### ergoCub equipped with MMA rev. B (from ergoCub SN001) + +These robots are equipped with the MMA rev. B **IITCODE 16872.B** | finger | AD0 | AD1 | IMU | I2C dataline | IIT code | |:--:|:--:|:--:|:--:|:--:|:--:| -|thumb | 0 | 0 | IIM-42652 | 0 | 17544.A | -|index | 0 | 0 | IIM-42652 | 1 | 17544.A | -|middle | 1 | 0 | LSM6DSLTR | 1 | 17545.A | -|ring | 0 | 1 | no | 1 | 17546 | -|pink | 1 | 0 | LSM6DSLTR | 0 | 17545.A | +|thumb | 0 | 0 | IIM-42652 | 0 | 15467.B | +|index | 0 | 0 | IIM-42652 | 1 | 15467.B | +|middle | 0 | 0 | IIM-42652 | 2 | 15467.B | +|ring | 0 | 0 | IIM-42652 | 3 | 15467.B | +|pink | 0 | 0 | IIM-42652 | 4 | 15467.B | + +No customization of the boards is needed. They are purchased with the correct jumper configuration. -#### ergoCub equipped with MMA rev. B I2C dataline is decided at the MMA level through the connector assignment. -The MTB to be mounted should be equipped with a dedicated firmware to enable the use of **PIN 7** -in the connector as an additional I2C line. +The MTB to be mounted should be equipped with a **dedicated firmware** to enable the use of **PIN 7** +in the connector as an additional I2C line (SDA_4). ### Mounting the 3DMID @@ -103,7 +106,7 @@ Plus: Fig.4 - fixing the 3DMID to the soldering support.

-- Fix the 3DMID to the soldering support with 1.6x6mm screw. +- Fix the 3DMID to the soldering support with **1.6x6mm** screw. - Plug the soldering support on the base.