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The amc board uses ICC and CAN to move the wrist of ergoCub (r…
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…obotology#623)
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@marcoaccame @valegagge
marcoaccame authored and valegagge committed Apr 11, 2024
1 parent 4c45383 commit 1e4d265
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Showing 27 changed files with 682 additions and 80 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
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<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="AMCBLDC">
<group name="ADVFOC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
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Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="AMCBLDC">
<group name="ADVFOC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
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25 changes: 13 additions & 12 deletions ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
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Expand Up @@ -5,7 +5,7 @@

<group name="SERVICE">

<param name="type"> eomn_serv_MC_foc </param>
<param name="type"> eomn_serv_MC_advfoc </param>

<group name="PROPERTIES">

Expand All @@ -14,23 +14,24 @@
</group>

<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<param name="type"> amcbldc amc2c </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="major"> 2 2 </param>
<param name="minor"> 0 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 4 </param>
<param name="major"> 2 3 </param>
<param name="minor"> 0 0 </param>
<param name="build"> 10 0 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> foc foc foc </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="type"> advfoc advfoc advfoc </param>
<param name="onboard"> amcbldc amcbldc amc2c </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
</group>

<group name="ENCODER1">
Expand All @@ -43,10 +44,10 @@

<group name="ENCODER2">
<param name="type"> none none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
</group>

</group>
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29 changes: 15 additions & 14 deletions ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
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Expand Up @@ -5,7 +5,7 @@

<group name="SERVICE">

<param name="type"> eomn_serv_MC_foc </param>
<param name="type"> eomn_serv_MC_advfoc </param>

<group name="PROPERTIES">

Expand All @@ -14,23 +14,24 @@
</group>

<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<param name="type"> amcbldc amc2c </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="major"> 2 2 </param>
<param name="minor"> 0 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 4 </param>
<param name="major"> 2 3 </param>
<param name="minor"> 0 0 </param>
<param name="build"> 10 0 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> foc foc foc </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="type"> advfoc advfoc advfoc </param>
<param name="onboard"> amcbldc amcbldc amc2c </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
</group>

<group name="ENCODER1">
Expand All @@ -42,11 +43,11 @@
</group>

<group name="ENCODER2">
<param name="type"> none none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
<param name="type"> none none none </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
</group>

</group>
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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
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Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="AMCBLDC">
<group name="ADVFOC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN002/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
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Expand Up @@ -25,7 +25,7 @@
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="AMCBLDC">
<group name="ADVFOC">
<param name="HasHallSensor"> 1 1 1 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="HasRotorEncoder"> 0 0 0 </param>
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25 changes: 13 additions & 12 deletions ergoCubSN002/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
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Expand Up @@ -5,7 +5,7 @@

<group name="SERVICE">

<param name="type"> eomn_serv_MC_foc </param>
<param name="type"> eomn_serv_MC_advfoc </param>

<group name="PROPERTIES">

Expand All @@ -14,23 +14,24 @@
</group>

<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<param name="type"> amcbldc amc2c </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="major"> 2 2 </param>
<param name="minor"> 0 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 4 </param>
<param name="major"> 2 3 </param>
<param name="minor"> 0 0 </param>
<param name="build"> 10 0 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> foc foc foc </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="type"> advfoc advfoc advfoc </param>
<param name="onboard"> amcbldc amcbldc amc2c </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
</group>

<group name="ENCODER1">
Expand All @@ -43,10 +44,10 @@

<group name="ENCODER2">
<param name="type"> none none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
</group>

</group>
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29 changes: 15 additions & 14 deletions ergoCubSN002/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

<group name="SERVICE">

<param name="type"> eomn_serv_MC_foc </param>
<param name="type"> eomn_serv_MC_advfoc </param>

<group name="PROPERTIES">

Expand All @@ -14,23 +14,24 @@
</group>

<group name="CANBOARDS">
<param name="type"> amcbldc </param>
<param name="type"> amcbldc amc2c </param>
<group name="PROTOCOL">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="major"> 2 2 </param>
<param name="minor"> 0 0 </param>
</group>
<group name="FIRMWARE">
<param name="major"> 2 </param>
<param name="minor"> 0 </param>
<param name="build"> 4 </param>
<param name="major"> 2 3 </param>
<param name="minor"> 0 0 </param>
<param name="build"> 10 0 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> foc foc foc </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="type"> advfoc advfoc advfoc </param>
<param name="onboard"> amcbldc amcbldc amc2c </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
</group>

<group name="ENCODER1">
Expand All @@ -42,11 +43,11 @@
</group>

<group name="ENCODER2">
<param name="type"> none none none </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
<param name="type"> none none none </param>
<param name="port"> CAN1:1 CAN1:2 ICC1:3 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 0 0 0 </param>
<param name="tolerance"> 0 0 0 </param>
</group>

</group>
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47 changes: 47 additions & 0 deletions experimentalSetups/lego_setup_amc_advfoc/calibrators/setup-calib.xml
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@@ -0,0 +1,47 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="setup-calibrator" type="parametricCalibratorEth">

<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> Setup_Calibrator </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 </param>
<param name="velocityHome"> 10 </param>
</group>

<group name="CALIBRATION">
<param name="calibrationType"> 12 </param>

<param name="calibration1"> 6865 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 0 </param>
<param name="calibration4"> 0 </param>
<param name="calibration5"> 0 </param>
<param name="calibrationZero"> 0 </param>
<param name="calibrationDelta"> 0 </param>

<param name="startupPosition"> 0.0 </param>
<param name="startupVelocity"> 30.0 </param>
<param name="startupMaxPwm"> 16000 </param>
<param name="startupPosThreshold"> 2 </param>
</group>

<param name="CALIB_ORDER"> (0) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">setup-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">setup-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
2 changes: 2 additions & 0 deletions experimentalSetups/lego_setup_amc_advfoc/firmwareupdater.ini
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@@ -0,0 +1,2 @@
[DRIVERS]
ETH "eth"
12 changes: 12 additions & 0 deletions experimentalSetups/lego_setup_amc_advfoc/general.xml
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
14 changes: 14 additions & 0 deletions experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/pc104.xml
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">

<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
</group>

</params>

40 changes: 40 additions & 0 deletions experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml
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@@ -0,0 +1,40 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">

<xi:include href="./pc104.xml" />

<group name="ETH_BOARD">

<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.1 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> amc </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "setup-eb2-j0_2" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
</group>
</group>

<group name="ETH_BOARD_ACTIONS">
<group name="MONITOR_ITS_PRESENCE">
<param name="enabled"> true </param>
<param name="timeout"> 0.020 </param>
<param name="periodOfMissingReport"> 60.0 </param>
</group>
</group>

</group>

</params>

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