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added new params:
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* fullscalePWM: 800 for BLL, 1333 for mc4, 32000 for ems, 3360 for mc4plus
* ampsToSensor: 1000 ofr all boards

to be propagated to all robots!
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@randaz81
randaz81 committed Apr 10, 2017
1 parent 6b4b43f commit 0e9e77e
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Showing 37 changed files with 81 additions and 10 deletions.
2 changes: 2 additions & 0 deletions iCubGenova01/hardware/motorControl/icub_head.xml
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<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 11.375 -11.375 11.375 11.375 568.880 284.440 </param>
<param name="Zeros"> 180.00 -180.00 180.00 180.00 -45.00 0.00 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>



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2 changes: 2 additions & 0 deletions iCubGenova01/hardware/motorControl/icub_head_test.xml
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Expand Up @@ -41,6 +41,8 @@
<param name="TorqueId"> 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 </param>
<param name="TorqueMax"> 0 0 0 0 0 0 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Verbose"> 0 </param>
</group>

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3 changes: 2 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_left_arm.xml
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<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 706.67 -11.375 11.375 5 </param>
<param name="Zeros"> -180.00 -326.00 20.26 -187.00 -75.00 -180.00 180.00 400.00 </param>

<param name="fullscalePWM"> 800 800 800 800 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>



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3 changes: 2 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_left_hand.xml
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Expand Up @@ -35,7 +35,8 @@
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 8.889 -2.167 -2.765 -2.611 -2.565 -2.722 -2.812 -2.460 </param>
<param name="Zeros"> 140.63 -108.46 -175.43 -93.83 -182.48 -90.00 -175.33 -288.62 </param>

<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 0 0 </param>
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4 changes: 3 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_left_leg.xml
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Expand Up @@ -35,7 +35,9 @@
<param name="Zeros"> 185 176.5 172.8 -179.4 -175.8 183.8 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C </param>
<param name="TorqueChan"> 0 1 2 3 4 5 </param>
<param name="TorqueMax"> 24 24 24 24 24 24 </param>
<param name="TorqueMax"> 24 24 24 24 24 24 </param>
<param name="fullscalePWM"> 800 800 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Verbose"> 0 </param>
</group>

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3 changes: 2 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_right_arm.xml
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Expand Up @@ -33,7 +33,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="Encoder"> 11.375 11.375 11.375 11.375 -706.67 11.375 -11.375 4.3333333</param>
<param name="Zeros"> 180.00 36.00 230.74 176.00 -75.00 180.00 -180.00 385.38</param>

<param name="fullscalePWM"> 800 800 800 800 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>


<param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" </param>
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2 changes: 2 additions & 0 deletions iCubGenova01/hardware/motorControl/icub_right_hand.xml
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Expand Up @@ -35,6 +35,8 @@
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 6.111 -1.922 -2.753 -2.500 -2.576 -2.722 -2.676 -2.220 </param>
<param name="Zeros"> 201.27 -121.21 -170.00 -95.20 -183.58 -93.67 -172.62 -315.32 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 0 0 </param>
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4 changes: 3 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_right_leg.xml
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Expand Up @@ -35,7 +35,9 @@
<param name="Zeros"> -172.9 -181.4 -124.5 178.8 183.5 -176.4 </param>
<param name="TorqueId"> 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B </param>
<param name="TorqueChan"> 0 1 2 3 4 5 </param>
<param name="TorqueMax"> 24 24 24 24 24 24 </param>
<param name="TorqueMax"> 24 24 24 24 24 24 </param>
<param name="fullscalePWM"> 800 800 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Verbose"> 0 </param>
</group>

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4 changes: 3 additions & 1 deletion iCubGenova01/hardware/motorControl/icub_torso.xml
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Expand Up @@ -37,7 +37,9 @@
<param name="TorqueChan"> 0 1 2 0 </param>
<param name="TorqueMax"> 12 12 12 0 </param>
<param name="Verbose"> 0 </param>
</group>
<param name="fullscalePWM"> 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
</group>

<group name="VELOCITY">
<param name="Shifts"> 8 8 8 8 </param>
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4 changes: 3 additions & 1 deletion iCubGenova02/hardware/mechanicals/face-j0_1-mec.xml
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Expand Up @@ -18,7 +18,9 @@
<param name="HasTempSensor"> 0 0 </param>
<param name="HasRotorEncoder"> 0 1 </param>
<param name="HasRotorEncoderIndex"> 0 0 </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 </param> <!--torque pram: still to be verified -->
<param name="TorqueChan"> 0 0 </param>
<param name="TorqueMax"> 0 0 </param>
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4 changes: 3 additions & 1 deletion iCubGenova02/hardware/mechanicals/face-j2_5-mec.xml
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Expand Up @@ -20,7 +20,9 @@
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 0 0 0 0 </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 </param> <!-- torque params: still to be checked -->
<param name="TorqueChan"> 0 0 0 0 </param>
<param name="TorqueMax"> 0 0 0 0 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/head-j0_1-mec.xml
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Expand Up @@ -15,6 +15,8 @@
<param name="AxisName"> "neck_pitch" "neck_roll" </param>
<param name="AxisType"> "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 161.68 161.68 </param>
<param name="Gearbox_E2J"> 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 </param>
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4 changes: 3 additions & 1 deletion iCubGenova02/hardware/mechanicals/head-j2_5-mec.xml
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Expand Up @@ -17,7 +17,9 @@
<param name="AxisName"> "neck_yaw" "eyes_tilt" "eyes_vers" "eyes_verg" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="Gearbox_M2J"> 100 -141 50 50 </param>
<param name="fullscalePWM"> 3360 3360 3360 3360 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100 -141 50 50 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>

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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/left_lower_arm-ems2-mec.xml
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<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>

<param name="Encoder"> 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 1 1 1 1 1 1 1 1 1 1 1 1 </param>
<param name="Gearbox_E2J"> 1 1 1 1 1 1 1 1 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 1 1 1 1 1 1 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/left_lower_leg-ems7-mec.xml
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Expand Up @@ -9,6 +9,8 @@
<param name="AxisName"> "l_ankle_pitch" "l_ankle_roll" </param>
<param name="AxisType"> "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.00 100.00 </param>
<param name="Gearbox_E2J"> 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/left_upper_arm-ems1-mec.xml
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<param name="AxisName"> "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.00 100.00 100.00 100.00 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/left_upper_leg-ems6-mec.xml
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<param name="AxisName"> "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -100.0 100.0 -100.0 -100.0 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/right_lower_arm-ems4-mec.xml
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<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>

<param name="Encoder"> 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

<param name="JointEncoderRes"> -254440 4096 -4096 65535 65535 65535 65535 65535 65535 65535 65535 65535 </param>

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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/right_lower_leg-ems9-mec.xml
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Expand Up @@ -9,6 +9,8 @@
<param name="AxisName"> "r_ankle_pitch" "r_ankle_roll" </param>
<param name="AxisType"> "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -100.00 -100.00 </param>
<param name="Gearbox_E2J"> 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/right_upper_arm-ems3-mec.xml
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Expand Up @@ -9,6 +9,8 @@
<param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -100.00 -100.00 -100.00 -100.00 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/right_upper_leg-ems8-mec.xml
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<param name="AxisName"> "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.00 -100.00 100.00 100.00 </param>
<param name="Gearbox_E2J"> 1 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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2 changes: 2 additions & 0 deletions iCubGenova02/hardware/mechanicals/torso-ems5-mec.xml
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Expand Up @@ -9,6 +9,8 @@
<param name="AxisName"> "torso_yaw" "torso_roll" "torso_pitch" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -100.00 -100.00 -100.00 </param>
<param name="Gearbox_E2J"> 1 1 1 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
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