Use new .ini file layout

roboticslab-uc3m/yarp-devices#229

share/CMakeLists.txt

@@ -1,5 +1,8 @@
 yarp_install(DIRECTORY applications/yarpmanager
              DESTINATION ${HUMASOFT-YARP-DEVICES_APPLICATIONS_INSTALL_DIR})
 
-yarp_install(DIRECTORY contexts/oneCanBusOneWrapper
+yarp_install(DIRECTORY contexts/launchCanBus
              DESTINATION ${HUMASOFT-YARP-DEVICES_CONTEXTS_INSTALL_DIR})
+
+yarp_install(DIRECTORY robots/teoSoftNeck
+             DESTINATION ${HUMASOFT-YARP-DEVICES_ROBOTS_INSTALL_DIR})

share/contexts/launchCanBus/softNeck.ini

@@ -0,0 +1,13 @@
+[devCan neckBus]
+device "CanBusControlboard"
+description "CAN bus wrapper for TEO's soft neck"
+buses ("pcan-softNeck")
+pcan-softNeck ("id31-ipos" "id32-ipos" "id33-ipos")
+
+[wrapper neckPort]
+device "controlboardwrapper2"
+name "/softneck"
+period 60
+joints 3
+networks ("neckBus")
+neckBus (0 2 0 2)

share/robots/teoSoftNeck/config.ini

@@ -0,0 +1,84 @@
+[pcan-softNeck]
+device "CanBusPeak"
+description "PeakCAN bus on TEO's soft neck"
+port "/dev/pcan1"
+bitrate 1000000
+rxBufferSize 500
+txBufferSize 500
+rxDelay 0.0
+txDelay 1e-3
+threaded false
+linInterpPeriodMs 20
+linInterpBufferSize 1
+linInterpMode "pt"
+
+[id31-ipos]
+device "TechnosoftIpos"
+description "First joint with iPOS drive"
+name "J1"
+type "atrv"
+canId 31
+max 0.1
+min -0.1
+maxVel 0.03
+refSpeed 0.01
+refAcceleration 0.01
+driver "ipos-3604-mx"
+motor "maxon-118739"
+gearbox "maxon-134777"
+extraTr 7639.437
+encoder "maxon-201937"
+reverse false
+
+[id32-ipos]
+device "TechnosoftIpos"
+description "Second joint with iPOS drive"
+name "J2"
+type "atrv"
+canId 32
+max 0.1
+min -0.1
+maxVel 0.03
+refSpeed 0.01
+refAcceleration 0.01
+driver "ipos-3604-mx"
+motor "maxon-118739"
+gearbox "maxon-134777"
+extraTr 7639.437
+encoder "maxon-201937"
+reverse false
+
+[id33-ipos]
+device "TechnosoftIpos"
+description "Third joint with iPOS drive"
+name "J3"
+type "atrv"
+canId 33
+max 0.1
+min -0.1
+maxVel 0.03
+refSpeed 0.01
+refAcceleration 0.01
+driver "ipos-3604-mx"
+motor "maxon-118739"
+gearbox "maxon-134777"
+extraTr 7639.437
+encoder "maxon-201937"
+reverse false
+
+[ipos-3604-mx]
+description "iPOS3604 MX Intelligent Drive (144 W, CANopen / EtherCAT)"
+peakCurrent 10.0
+
+[maxon-118739]
+description "RE 16 Ø16 mm, Graphite Brushes, 4.5 Watt"
+k 0.0839
+pulsesPerSample 1000
+
+[maxon-134777]
+description "Planetary Gearhead GP 16 A Ø16 mm, 0.1 - 0.3 Nm, Metal Version, Sleeve Bearing"
+tr 24.0
+
+[maxon-201937]
+description "Encoder MR, Type M, 512 CPT, 2 Channels, with Line Driver"
+encoderPulses 2048