From 4349adf0c64dc53597c5b85526c93a4986de23df Mon Sep 17 00:00:00 2001 From: SanLordKevin Date: Fri, 26 Sep 2025 18:37:08 +0200 Subject: [PATCH 1/4] update amc,amcfoc lego and template --- .../electronics/setup-eb2-j0_2-eln.xml | 22 +++++++-------- .../mechanicals/setup-eb2-j0_2-mec.xml | 1 + .../motorControl/setup-eb2-j0_2-mc.xml | 8 ++++++ .../motorControl/setup-eb2-j0_2-mc_PWM.xml | 8 ++++++ .../setup-eb2-j0_2-mc_service.xml | 2 +- .../electronics/setup-eb2-j0_0-eln.xml | 12 ++++++-- .../mechanicals/setup-eb2-j0_0-mec.xml | 1 + .../motorControl/setup-eb2-j0_0-mc.xml | 8 ++++++ .../electronics/body_part--ebX-jA_B-eln.xml | 28 +++++++++---------- 9 files changed, 62 insertions(+), 28 deletions(-) diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml index 10f5657198..26aff43923 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml @@ -10,24 +10,23 @@ 10.0.1.1 12345 - amc + amc 768 384 - "setup-eb2-j0_2" + "amc" - + synchronized 1000 - 150 400 300 300 + 100 5 @@ -35,17 +34,18 @@ - false - true + true + true - 10.0 - true - true - true + 10.0 + true + true + true + true diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml index 3e0684de17..1d17a680a8 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml @@ -45,6 +45,7 @@ 0 0 14 + 0 diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml index 4a12ae4206..ade29c4ef3 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml @@ -32,6 +32,14 @@ 0 + + 300 + 300 + 300 + 300 + 300 + + POS_PID_DEFAULT POS_PID_DEFAULT diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml index c72692572d..ed110c3d17 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml @@ -30,6 +30,14 @@ 0 + + 300 + 300 + 300 + 300 + 300 + + POS_PID_DEFAULT POS_PID_DEFAULT diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml index 75aaf619e3..f47fe4d699 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml @@ -104,7 +104,7 @@ 3 2 - 9 2 + 12 3 0 0 diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml index 1c5e664340..0f9e4b42f3 100644 --- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml +++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml @@ -18,18 +18,26 @@ "amcfoc" + synchronized 1000 400 300 300 + 100 5 + true + true + - 10 - false + 10 + true + true + true + true diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml index d50f9ae745..c508a78d8e 100644 --- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml +++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml @@ -45,6 +45,7 @@ 0 0 14 + 0 diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml index a88a32184d..9d57f5cca5 100644 --- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml +++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml @@ -32,6 +32,14 @@ 0 + + 300 + 300 + 300 + 300 + 300 + + POS_PID_DEFAULT POS_PID_DEFAULT diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml index 6a40db3cda..1bcc3fe807 100644 --- a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml +++ b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml @@ -53,24 +53,24 @@ of late phases. You should use this mode if you want synchronous execution so that some actuations to motors do not drift inside the period - ------- -------- ------ -------- --------- ------ -- + _______ ________ ______ ________ _________ ______ __ | RX | | DO | | TX | | RX | | DO | | TX | | RX - ------- -------- ------ --------- --------- ------ --- + _______ ________ ______ _________ _________ ______ ___ ^ ^ ^ ^ ^ ^ ^ - o-----------d-----------------t-----------o-----------d-----------------t-----------o---------- + o- - - - - -d- - - - - - - - t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - | period n | period n+1 | period n+2 - |-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ... + |-rx budget-|-do budget- - - -|-tx budget-|-rx budget-|-do budget- - - -|-tx budget-| ... Figure. Typical synchronized execution w/out overflow. Note that teh values of rx/do/tx budget are onfigurable w/ parameters maxTimeOfRXactivity, maxTimeOfDoactivity and maxTimeOfTXactivity - -------------- -------- ------ -------- --------- ------ -- + ______________ ________ ______ ________ _________ ______ __ | RX || DO | | TX | | RX | | DO | | TX | | RX - -------------- -------- ------ --------- --------- ------ --- + ______________ ________ ______ _________ _________ ______ ___ ^ ^^^^^ ^ ^ ^ ^ ^ - o-----------d-----------------t-----------o-----------d-----------------t-----------o---------- + o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - - | period n | period n+1 | period n+2 - |-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ... + |-rx budget |-do budget |-tx budget |-rx budget |-do budget |-tx budget | ... Figure. Typical synchronized execution w/ overflow of RX @@ -91,20 +91,20 @@ You should use this mode if you have difficulties to determine correct slots for the synchronized execution mode and you can accept some drifts of execution inside the period. - ------- -------- ------ ------------------ --------- ------ -- + _______ ________ ______ __________________ _________ ______ __ | RX || DO || TX | | RX || DO || TX | | RX - ------- -------- ------ ------------------ --------- ------ --- + _______ ________ ______ __________________ _________ ______ ___ ^ ^ ^ - o-----------------------------------------o-----------------------------------------o---------- + o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - - | period n | period n+1 | period n+2 | Figure. Typical best effort execution w/out overflow - ----------------------------- ------------- ------ ------- ------ ------ -- + _____________________________ _____________ ______ _______ ______ ______ __ | RX || DO || TX || RX || DO || TX | | RX - ----------------------------- ------------- ------ ------- ------ ------ --- + _____________________________ _____________ ______ _______ ______ ______ ___ ^ ^^^^^^^^^^^^^ (activation remains valid) ^ - o-----------------------------------------o-----------------------------------------o---------- + o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - - | period n | period n+1 | period n+2 Figure. Typical best effort execution w/ overflow to next period (shortened for sake of displaying) From c8dea046d4d9782c531c2bf8c97305f7602d6a0e Mon Sep 17 00:00:00 2001 From: SanLordKevin Date: Fri, 26 Sep 2025 18:53:56 +0200 Subject: [PATCH 2/4] remove timeouts duplication --- .../hardware/motorControl/setup-eb2-j0_2-mc.xml | 14 +++++--------- .../motorControl/setup-eb2-j0_2-mc_PWM.xml | 14 +++++--------- .../hardware/motorControl/setup-eb2-j0_0-mc.xml | 14 +++++--------- 3 files changed, 15 insertions(+), 27 deletions(-) diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml index ade29c4ef3..c3b4da6729 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml @@ -23,15 +23,6 @@ 16000 - - 100 - - - - 0 - 0 - - 300 300 @@ -40,6 +31,11 @@ 300 + + 0 + 0 + + POS_PID_DEFAULT POS_PID_DEFAULT diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml index ed110c3d17..43cbef3464 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml @@ -21,15 +21,6 @@ 16000 - - 100 - - - - 0 - 0 - - 300 300 @@ -38,6 +29,11 @@ 300 + + 0 + 0 + + POS_PID_DEFAULT POS_PID_DEFAULT diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml index 9d57f5cca5..4cae662136 100644 --- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml +++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml @@ -23,15 +23,6 @@ 16000 - - 100 - - - - 0 - 0 - - 300 300 @@ -40,6 +31,11 @@ 300 + + 0 + 0 + + POS_PID_DEFAULT POS_PID_DEFAULT From 0faf92287c62bdec5449b653827f0d2570085f52 Mon Sep 17 00:00:00 2001 From: Kevin Sangalli Date: Fri, 26 Sep 2025 19:06:04 +0200 Subject: [PATCH 3/4] Update experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> --- .../hardware/electronics/setup-eb2-j0_2-eln.xml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml index 26aff43923..e35c0352fa 100644 --- a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml +++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml @@ -42,8 +42,7 @@ 10.0 - true - true + true true true From 88dc0d504074c78e89b1af8538447756f10d558a Mon Sep 17 00:00:00 2001 From: Kevin Sangalli Date: Fri, 26 Sep 2025 19:06:10 +0200 Subject: [PATCH 4/4] Update experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> --- .../hardware/electronics/setup-eb2-j0_0-eln.xml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml index 0f9e4b42f3..5cd624ced7 100644 --- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml +++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml @@ -34,8 +34,7 @@ 10 - true - true + true true true