From 17a24aaab9d2741fadb1e58e6251a97a4887d241 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Thu, 2 Jan 2020 18:20:43 +0100
Subject: [PATCH] Use new .ini file layout

https://github.com/roboticslab-uc3m/yarp-devices/pull/229
---
 share/CMakeLists.txt                          |  5 +-
 share/contexts/launchCanBus/softNeck.ini      | 13 +++
 .../contexts/oneCanBusOneWrapper/softNeck.ini | 24 ------
 share/robots/teoSoftNeck/config.ini           | 84 +++++++++++++++++++
 4 files changed, 101 insertions(+), 25 deletions(-)
 create mode 100644 share/contexts/launchCanBus/softNeck.ini
 delete mode 100644 share/contexts/oneCanBusOneWrapper/softNeck.ini
 create mode 100644 share/robots/teoSoftNeck/config.ini

diff --git a/share/CMakeLists.txt b/share/CMakeLists.txt
index 672a687..ac3f385 100644
--- a/share/CMakeLists.txt
+++ b/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})
diff --git a/share/contexts/launchCanBus/softNeck.ini b/share/contexts/launchCanBus/softNeck.ini
new file mode 100644
index 0000000..fde9de1
--- /dev/null
+++ b/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)
diff --git a/share/contexts/oneCanBusOneWrapper/softNeck.ini b/share/contexts/oneCanBusOneWrapper/softNeck.ini
deleted file mode 100644
index 20e1b00..0000000
--- a/share/contexts/oneCanBusOneWrapper/softNeck.ini
+++ /dev/null
@@ -1,24 +0,0 @@
-[devCan0]
-device CanBusControlboard
-canDevice /dev/pcan1
-canBusType CanBusPeak
-canBitrate 1000000
-linInterpPeriodMs 20
-linInterpBufferSize 1
-linInterpMode pt
-types TechnosoftIpos TechnosoftIpos TechnosoftIpos
-ids   31 32 33
-maxs  90.0 90.0 90.0
-mins -90.0 -90.0 -90.0
-trs   183346.494 183346.494 183346.494
-refAccelerations  0.01 0.01 0.01
-refSpeeds  0.01 0.01 0.01
-encoderPulsess  2048 2048 2048
-
-[wrapper0]
-device controlboardwrapper2
-name /softneck
-period 60
-joints 3
-networks (devCan0)
-devCan0 0 2 0 2
diff --git a/share/robots/teoSoftNeck/config.ini b/share/robots/teoSoftNeck/config.ini
new file mode 100644
index 0000000..2c0a77b
--- /dev/null
+++ b/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