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Update EoMotionControl to support the new velocityThres parameter #86

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merged 4 commits into from
Nov 21, 2023
Merged

Update EoMotionControl to support the new velocityThres parameter #86

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8c5783e
update EoMotionControl to support the new velocityThres parameter
sgiraz Aug 29, 2023
23ca3d3
remove bemf_value and bemf_scale from eOmc_motor_params_t
sgiraz Aug 29, 2023
3b9cb53
restore bemf params in eOmc_motor_params_t + increase eoprot_version_…
sgiraz Aug 30, 2023
d547265
bump version 1.37.1
sgiraz Nov 17, 2023
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
cmake_minimum_required(VERSION 3.12)

project(icub_firmware_shared
VERSION 1.37.0)
VERSION 1.37.1)

find_package(YCM 0.11.0 REQUIRED)

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9 changes: 5 additions & 4 deletions eth/embobj/plus/comm-v2/icub/EoMotionControl.h
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Expand Up @@ -494,7 +494,8 @@ typedef struct
float32_t viscous_neg_val;
float32_t coulomb_pos_val;
float32_t coulomb_neg_val;
} eOmc_FrictionParams_t; EO_VERIFYsizeof(eOmc_FrictionParams_t, 16)
float32_t velocityThres_val;
} eOmc_FrictionParams_t; EO_VERIFYsizeof(eOmc_FrictionParams_t, 20)

typedef struct
{
Expand Down Expand Up @@ -648,7 +649,7 @@ typedef struct
int8_t bemf_scale;
int8_t ktau_scale;
int8_t filler02[2];
} eOmc_motor_params_t; EO_VERIFYsizeof(eOmc_motor_params_t, 28)
} eOmc_motor_params_t; EO_VERIFYsizeof(eOmc_motor_params_t, 32)

// -- all the possible data holding structures used in a motor

Expand Down Expand Up @@ -713,7 +714,7 @@ typedef struct // size is: 40+40+40+8+8+12+4+4+28+2+1+1+4+4+4+3
float32_t gearbox_E2J;
float32_t deadzone;
eOmc_kalman_filter_config_t kalman_params; /**< the kalman filter parameters */
} eOmc_joint_config_t; EO_VERIFYsizeof(eOmc_joint_config_t, 236)
} eOmc_joint_config_t; EO_VERIFYsizeof(eOmc_joint_config_t, 240)


/** @typedef typedef struct eOmc_status_ofpid_legacy_t
Expand Down Expand Up @@ -916,7 +917,7 @@ typedef struct // size is 236+96+4+44+0 = 380
eOmc_joint_status_t status; /**< the status of the joint */
eOmc_joint_inputs_t inputs; /**< it contains all the values that a host can send to a joint as inputs */
eOmc_joint_commands_t cmmnds; /**< it contains all the commands that a host can send to a joint */
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 380);
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 384);



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2 changes: 1 addition & 1 deletion eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h
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Expand Up @@ -57,7 +57,7 @@ extern "C" {
// - declaration of public user-defined types -------------------------------------------------------------------------


enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 25 };
enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 26 };

enum { eoprot_entities_mc_numberof = eomc_entities_numberof };

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