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Merged
merged 4 commits into from
Sep 28, 2025
Merged

update amc, amcfoc lego and template #759

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4349adf
update amc,amcfoc lego and template
SanLordKevin Sep 26, 2025
c8dea04
remove timeouts duplication
SanLordKevin Sep 26, 2025
0faf922
Update experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/…
SanLordKevin Sep 26, 2025
88dc0d5
Update experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electroni…
SanLordKevin Sep 26, 2025
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21 changes: 10 additions & 11 deletions experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml
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Expand Up @@ -10,42 +10,41 @@
<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.1 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> amc </param>
<param name="Type"> amc </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "setup-eb2-j0_2" </param>
<param name="Name"> "amc" </param>

<group name="RUNNINGMODE">

<!-- execution can be [synchronized, besteffort].
-->
<!-- execution can be [synchronized, besteffort].-->
<param name="execution"> synchronized </param>
<param name="period"> 1000 </param>
<param name="safetygap"> 150 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="safetygap"> 100 </param>
<param name="TXrateOfRegularROPs"> 5 </param>


<group name="LOGGING">

<group name="IMMEDIATE">

<param name="emitRXDOTXoverflow"> false </param>
<param name="emitPERIODoverflow"> true </param>
<param name="emitRXDOTXoverflow"> true </param>
<param name="emitPERIODoverflow"> true </param>

</group>

<group name="PERIODIC">

<param name="period"> 10.0 </param>
<param name="emitRXDOTXstatistics"> true </param>
<param name="emitPERIODminavgmax"> true </param>
<param name="emitPERIODhistogram"> true </param>
<param name="period"> 10.0 </param>
<param name="emitRXDOTXminavgmax"> true </param>
<param name="emitPERIODminavgmax"> true </param>
<param name="emitPERIODhistogram"> true </param>

</group>

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1 change: 1 addition & 0 deletions experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
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Expand Up @@ -45,6 +45,7 @@
<param name="HasSpeedEncoder"> 0 </param>
<param name="RotorIndexOffset"> 0 </param>
<param name="MotorPoles"> 14 </param>
<param name="Kbemf"> 0 </param>
</group>

<group name="COUPLINGS">
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6 changes: 5 additions & 1 deletion experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml
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Expand Up @@ -24,7 +24,11 @@
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
<param name="velocity"> 300 </param>
<param name="torque"> 300 </param>
<param name="pwm"> 300 </param>
<param name="current"> 300 </param>
<param name="torque_measure"> 300 </param>
</group>

<group name="IMPEDANCE">
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6 changes: 5 additions & 1 deletion experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml
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Expand Up @@ -22,7 +22,11 @@
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
<param name="velocity"> 300 </param>
<param name="torque"> 300 </param>
<param name="pwm"> 300 </param>
<param name="current"> 300 </param>
<param name="torque_measure"> 300 </param>
</group>

<group name="IMPEDANCE">
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2 changes: 1 addition & 1 deletion experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
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Expand Up @@ -104,7 +104,7 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 2 </param>
<param name="minor"> 9 2 </param>
<param name="minor"> 12 3 </param>
<param name="build"> 0 0 </param>
</group>
</group>
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11 changes: 9 additions & 2 deletions experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml
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Expand Up @@ -18,18 +18,25 @@
<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "amcfoc" </param>
<group name="RUNNINGMODE">
<param name="execution"> synchronized </param>
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="safetygap"> 100 </param>
<param name="TXrateOfRegularROPs"> 5 </param>

<group name="LOGGING">
<group name="IMMEDIATE">
<param name="emitRXDOTXoverflow"> true </param>
<param name="emitPERIODoverflow"> true </param>
</group>

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medium

This added line consists only of whitespace. It should be removed to improve the file's readability and cleanliness.

<group name="PERIODIC">
<param name="period"> 10 </param>
<param name="emitRXDOTXstatistics"> false </param>
<param name="period"> 10 </param>
<param name="emitRXDOTXminavgmax"> true </param>
<param name="emitPERIODminavgmax"> true </param>
<param name="emitPERIODhistogram"> true </param>
</group>
</group>
</group>
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1 change: 1 addition & 0 deletions experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml
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Expand Up @@ -45,6 +45,7 @@
<param name="HasSpeedEncoder"> 0 </param>
<param name="RotorIndexOffset"> 0 </param>
<param name="MotorPoles"> 14 </param>
<param name="Kbemf"> 0 </param>
</group>

<group name="COUPLINGS">
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6 changes: 5 additions & 1 deletion experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml
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Expand Up @@ -24,7 +24,11 @@
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
<param name="velocity"> 300 </param>
<param name="torque"> 300 </param>
<param name="pwm"> 300 </param>
<param name="current"> 300 </param>
<param name="torque_measure"> 300 </param>
</group>

<group name="IMPEDANCE">
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28 changes: 14 additions & 14 deletions iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml
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Expand Up @@ -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

Expand All @@ -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)
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