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Control board now named 'ankle_setup_control_board', works with linea…
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…r motion in range 0-100 [mm], fixed indentation
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@AntonioViscomi
AntonioViscomi committed Jan 23, 2025
1 parent b1caad2 commit cb81c3d
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Showing 9 changed files with 156 additions and 210 deletions.
2 changes: 1 addition & 1 deletion experimentalSetups/ankleSetup/ankle-setup.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ankle-setup" build="1" portprefix="ankleSetup" xmlns:xi="http://www.w3.org/2001/XInclude">
<robot name="ankle-setup" build="1" portprefix="/ankleSetup" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<params>
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6 changes: 3 additions & 3 deletions experimentalSetups/ankleSetup/general.xml
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<!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="ankleSetup" build="1">

<group name="GENERAL">
<param name="skipCalibration"> true </param>
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
</params>
4 changes: 2 additions & 2 deletions experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml
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<?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="ankle-setup" build="1">
<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle_setup_control_board" build="1">

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

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</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "ankle-setup" </param>
<param name="Name"> "ankle_setup_control_board" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
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15 changes: 8 additions & 7 deletions experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml
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<param name="Encoder"> 182.044 </param>
<param name="fullscalePWM"> 32000 </param>
<param name="ampsToSensor"> 1000.0 </param>
<param name="Gearbox_M2J"> 1 </param>
<param name="Gearbox_E2J"> 1 </param> <!--64 when using AMO 1 when using aksim (is the number of sectors)-->
<param name="Gearbox_M2J"> 72 </param>
<param name="Gearbox_E2J"> 1 </param>
<param name="useMotorSpeedFbk"> 1 </param>
<param name="MotorType"> "MECAPION_APM-SA01ACN-8" </param>
<param name="Verbose"> 0 </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 0 </param>
<param name="hardwareJntPosMin"> 0 </param>
<param name="hardwareJntPosMax"> 0 </param>
<param name="hardwareJntPosMin"> -100 </param>
<param name="rotorPosMin"> 0 </param>
<param name="rotorPosMax"> 0 </param>
</group>
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<param name="HasRotorEncoderIndex"> 1 </param>
<param name="HasSpeedEncoder"> 0 </param>
<param name="RotorIndexOffset"> 105 </param>
<param name="MotorPoles"> 8 </param>
<param name="MotorPoles"> 8 </param>
</group>

<group name="COUPLINGS">
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</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 1 </param>
<param name= "numberofsets"> 1 </param>

<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
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158 changes: 70 additions & 88 deletions experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml
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@@ -1,127 +1,109 @@
<?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="ankle-setup-mc" type="embObjMotionControl">

<xi:include href="../../general.xml" />
<xi:include href="../../hardware/electronics/ankle-setup-eln.xml" />
<xi:include href="../../hardware/mechanicals/ankle-setup-mec.xml" />
<xi:include href="./ankle-setup-mc_service.xml" />

<!-- joint number 0 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 0 </param>
<param name="jntPosMin"> 0 </param>
<param name="jntVelMax"> 100 </param>
<param name="motorNominalCurrents"> 5000 </param>
<param name="motorPeakCurrents"> 10000 </param>
<param name="motorOverloadCurrents"> 15000 </param>
<param name="motorPwmLimit"> 32000 </param>
<!-- joint number 0 -->
<param name="jntPosMax"> -0.002 </param>
<param name="jntPosMin"> -99 </param>
<param name="jntVelMax"> 100 </param>
<param name="motorNominalCurrents"> 5000 </param>
<param name="motorPeakCurrents"> 10000 </param>
<param name="motorOverloadCurrents"> 15000 </param>
<param name="motorPwmLimit"> 32000 </param>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
<param name="velocity"> 100 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0 </param>
<param name="damping"> 0 </param>
<param name="stiffness"> 0 </param>
<param name="damping"> 0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT </param>
<param name="currentPid"> 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL </param>
<param name="positionControl"> POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT </param>
<param name="currentPid"> 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL </param>
</group>


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 500 </param>
<param name="kd"> 0 </param>
<param name="ki"> 100 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 3000 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 500 </param>
<param name="kd"> 0 </param>
<param name="ki"> 100 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 3000 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
</group>

<!-- default position PID: end -->


<!-- default torque PID: begin -->
<group name="TRQ_PID_DEFAULT">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 1.8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 0 </param>
<param name="maxOutput"> 2000 </param>
<param name="maxInt"> 1000 </param>
<param name="ko"> 0.55 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
<param name="kbemf"> 0 </param>
<param name="filterType"> 3 </param>
<param name="ktau"> 0 </param>
<param name="viscousPos"> 1.0 </param>
<param name="viscousNeg"> 1.0 </param>
<param name="coulombPos"> 0.0 </param>
<param name="coulombNeg"> 0.0 </param>
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 1.8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 0 </param>
<param name="maxOutput"> 2000 </param>
<param name="maxInt"> 1000 </param>
<param name="ko"> 0.55 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
<param name="kbemf"> 0 </param>
<param name="filterType"> 3 </param>
<param name="ktau"> 0 </param>
<param name="viscousPos"> 1.0 </param>
<param name="viscousNeg"> 1.0 </param>
<param name="coulombPos"> 0.0 </param>
<param name="coulombNeg"> 0.0 </param>
</group>
<!-- default torque PID: end -->


<!-- other default PIDs: begin -->

<group name="2FOC_CUR_CONTROL">
<param name="controlLaw"> low_lev_current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 2 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
<param name="kff"> 0 </param>
<param name="controlLaw"> low_lev_current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 2 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
<param name="kff"> 0 </param>
</group>

<group name="2FOC_VEL_CONTROL">
<param name="controlLaw"> low_lev_speed </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 </param>
<param name="kp"> 12 </param>
<param name="kd"> 0 </param>
<param name="ki"> 16 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
<param name="controlLaw"> low_lev_speed </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 </param>
<param name="kp"> 12 </param>
<param name="kd"> 0 </param>
<param name="ki"> 16 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
</group>

<!-- other default PIDs: end -->


<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 </param>
<param name="deadZone"> 0.0049 </param>
</group>

</device>
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