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SanLordKevingemini-code-assist[bot]
SanLordKevin
and
gemini-code-assist[bot]
authored
update amc, amcfoc lego and template (#759)
Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
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-31
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9 files changed

+51
-31
lines changed

‎experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml‎

Lines changed: 10 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -10,42 +10,41 @@
1010
<group name="ETH_BOARD_PROPERTIES">
1111
<param name="IpAddress"> 10.0.1.1 </param>
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<param name="IpPort"> 12345 </param>
13-
<param name="Type"> amc </param>
13+
<param name="Type"> amc </param>
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<param name="maxSizeRXpacket"> 768 </param>
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<param name="maxSizeROP"> 384 </param>
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</group>
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<group name="ETH_BOARD_SETTINGS">
19-
<param name="Name"> "setup-eb2-j0_2" </param>
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<param name="Name"> "amc" </param>
2020

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<group name="RUNNINGMODE">
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23-
<!-- execution can be [synchronized, besteffort].
24-
-->
23+
<!-- execution can be [synchronized, besteffort].-->
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<param name="execution"> synchronized </param>
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<param name="period"> 1000 </param>
27-
<param name="safetygap"> 150 </param>
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<param name="maxTimeOfRXactivity"> 400 </param>
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<param name="maxTimeOfDOactivity"> 300 </param>
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<param name="maxTimeOfTXactivity"> 300 </param>
29+
<param name="safetygap"> 100 </param>
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<param name="TXrateOfRegularROPs"> 5 </param>
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<group name="LOGGING">
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<group name="IMMEDIATE">
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38-
<param name="emitRXDOTXoverflow"> false </param>
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<param name="emitPERIODoverflow"> true </param>
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<param name="emitRXDOTXoverflow"> true </param>
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<param name="emitPERIODoverflow"> true </param>
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</group>
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<group name="PERIODIC">
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45-
<param name="period"> 10.0 </param>
46-
<param name="emitRXDOTXstatistics"> true </param>
47-
<param name="emitPERIODminavgmax"> true </param>
48-
<param name="emitPERIODhistogram"> true </param>
44+
<param name="period"> 10.0 </param>
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<param name="emitRXDOTXminavgmax"> true </param>
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<param name="emitPERIODminavgmax"> true </param>
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<param name="emitPERIODhistogram"> true </param>
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</group>
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‎experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@
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<param name="HasSpeedEncoder"> 0 </param>
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<param name="RotorIndexOffset"> 0 </param>
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<param name="MotorPoles"> 14 </param>
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<param name="Kbemf"> 0 </param>
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</group>
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<group name="COUPLINGS">

‎experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,11 @@
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</group>
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<group name="TIMEOUTS">
27-
<param name="velocity"> 100 </param>
27+
<param name="velocity"> 300 </param>
28+
<param name="torque"> 300 </param>
29+
<param name="pwm"> 300 </param>
30+
<param name="current"> 300 </param>
31+
<param name="torque_measure"> 300 </param>
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</group>
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<group name="IMPEDANCE">

‎experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,11 @@
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</group>
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<group name="TIMEOUTS">
25-
<param name="velocity"> 100 </param>
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<param name="velocity"> 300 </param>
26+
<param name="torque"> 300 </param>
27+
<param name="pwm"> 300 </param>
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<param name="current"> 300 </param>
29+
<param name="torque_measure"> 300 </param>
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</group>
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<group name="IMPEDANCE">

‎experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml‎

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Original file line numberDiff line numberDiff line change
@@ -104,7 +104,7 @@
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</group>
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<group name="FIRMWARE">
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<param name="major"> 3 2 </param>
107-
<param name="minor"> 9 2 </param>
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<param name="minor"> 12 3 </param>
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<param name="build"> 0 0 </param>
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</group>
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</group>

‎experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml‎

Lines changed: 9 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -18,18 +18,25 @@
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<group name="ETH_BOARD_SETTINGS">
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<param name="Name"> "amcfoc" </param>
2020
<group name="RUNNINGMODE">
21+
<param name="execution"> synchronized </param>
2122
<param name="period"> 1000 </param>
2223
<param name="maxTimeOfRXactivity"> 400 </param>
2324
<param name="maxTimeOfDOactivity"> 300 </param>
2425
<param name="maxTimeOfTXactivity"> 300 </param>
26+
<param name="safetygap"> 100 </param>
2527
<param name="TXrateOfRegularROPs"> 5 </param>
28+
2629
<group name="LOGGING">
2730
<group name="IMMEDIATE">
2831
<param name="emitRXDOTXoverflow"> true </param>
32+
<param name="emitPERIODoverflow"> true </param>
2933
</group>
34+
3035
<group name="PERIODIC">
31-
<param name="period"> 10 </param>
32-
<param name="emitRXDOTXstatistics"> false </param>
36+
<param name="period"> 10 </param>
37+
<param name="emitRXDOTXminavgmax"> true </param>
38+
<param name="emitPERIODminavgmax"> true </param>
39+
<param name="emitPERIODhistogram"> true </param>
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</group>
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</group>
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</group>

‎experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,7 @@
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<param name="HasSpeedEncoder"> 0 </param>
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<param name="RotorIndexOffset"> 0 </param>
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<param name="MotorPoles"> 14 </param>
48+
<param name="Kbemf"> 0 </param>
4849
</group>
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<group name="COUPLINGS">

‎experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml‎

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,11 @@
2424
</group>
2525

2626
<group name="TIMEOUTS">
27-
<param name="velocity"> 100 </param>
27+
<param name="velocity"> 300 </param>
28+
<param name="torque"> 300 </param>
29+
<param name="pwm"> 300 </param>
30+
<param name="current"> 300 </param>
31+
<param name="torque_measure"> 300 </param>
2832
</group>
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3034
<group name="IMPEDANCE">

‎iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml‎

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -53,24 +53,24 @@
5353
of late phases.
5454
You should use this mode if you want synchronous execution so that some actuations to motors do not drift inside the period
5555
56-
------- -------- ------ -------- --------- ------ --
56+
_______ ________ ______ ________ _________ ______ __
5757
| RX | | DO | | TX | | RX | | DO | | TX | | RX
58-
------- -------- ------ --------- --------- ------ ---
58+
_______ ________ ______ _________ _________ ______ ___
5959
^ ^ ^ ^ ^ ^ ^
60-
o-----------d-----------------t-----------o-----------d-----------------t-----------o----------
60+
o- - - - - -d- - - - - - - - t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - -
6161
| period n | period n+1 | period n+2
62-
|-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ...
62+
|-rx budget-|-do budget- - - -|-tx budget-|-rx budget-|-do budget- - - -|-tx budget-| ...
6363
6464
Figure. Typical synchronized execution w/out overflow. Note that teh values of rx/do/tx budget are onfigurable w/ parameters
6565
maxTimeOfRXactivity, maxTimeOfDoactivity and maxTimeOfTXactivity
6666
67-
-------------- -------- ------ -------- --------- ------ --
67+
______________ ________ ______ ________ _________ ______ __
6868
| RX || DO | | TX | | RX | | DO | | TX | | RX
69-
-------------- -------- ------ --------- --------- ------ ---
69+
______________ ________ ______ _________ _________ ______ ___
7070
^ ^^^^^ ^ ^ ^ ^ ^
71-
o-----------d-----------------t-----------o-----------d-----------------t-----------o----------
71+
o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - -
7272
| period n | period n+1 | period n+2
73-
|-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ...
73+
|-rx budget |-do budget |-tx budget |-rx budget |-do budget |-tx budget | ...
7474
7575
Figure. Typical synchronized execution w/ overflow of RX
7676
@@ -91,20 +91,20 @@
9191
You should use this mode if you have difficulties to determine correct slots for the synchronized execution mode and you can accept
9292
some drifts of execution inside the period.
9393
94-
------- -------- ------ ------------------ --------- ------ --
94+
_______ ________ ______ __________________ _________ ______ __
9595
| RX || DO || TX | | RX || DO || TX | | RX
96-
------- -------- ------ ------------------ --------- ------ ---
96+
_______ ________ ______ __________________ _________ ______ ___
9797
^ ^ ^
98-
o-----------------------------------------o-----------------------------------------o----------
98+
o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - -
9999
| period n | period n+1 | period n+2 |
100100
101101
Figure. Typical best effort execution w/out overflow
102102
103-
----------------------------- ------------- ------ ------- ------ ------ --
103+
_____________________________ _____________ ______ _______ ______ ______ __
104104
| RX || DO || TX || RX || DO || TX | | RX
105-
----------------------------- ------------- ------ ------- ------ ------ ---
105+
_____________________________ _____________ ______ _______ ______ ______ ___
106106
^ ^^^^^^^^^^^^^ (activation remains valid) ^
107-
o-----------------------------------------o-----------------------------------------o----------
107+
o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - -
108108
| period n | period n+1 | period n+2
109109
110110
Figure. Typical best effort execution w/ overflow to next period (shortened for sake of displaying)

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