Upload launcher .ini files from yarp-devices

[PeterBowman]

We host copies of oneCanBusOneWrapper.ini at /home/asibot2/.local/yarp/, conveniently adapted for use in ASIBOT's demos and experiments (with or without CUIs and Lacquey). Most importantly, transmission values and motion limits are hosted there and nowhere else. We really should store such info here and clone this repo aboard.

[PeterBowman]

Current template:

[devCan0]
device CanBusControlboard
canDevice /dev/can0
canBusType CanBusHico
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch
ids   1 2 3 4 5 65
maxs  360 135 135 135 360 1200
mins -360 -135 -135 -135 -360 -1200
trs   160 160 160 160 160 0
maxVels 15 15 15 15 15 0
refAccelerations  10 10 10 10 10 0
refSpeeds  10 10 10 10 10 0
encoderPulsess 4096 4096 4096 4096 4096 0

[wrapper0]
device controlboardwrapper2
name /canbot/arm
period 60
joints 6
networks (devCan0)
devCan0 0 5 0 5

Need to decide on:

• with/without LacqueyFetch
• CAN device and node (HiCO.CAN vs Peak-CAN)
• port name for wrapper device.
  • /asibot is currently taken by yarprun
  • composite name (/a/b instead of just /a) so that yarpmotorgui can interface with it

[jgvictores]

/asibot/arm doesn't look like a bad idea, to distinguish if from the hand...

[PeterBowman]

I wonder if yarpmotorgui would choke on /asibot (it has to query all robot parts somehow).

[jgvictores]

Yes, possibly that would happen too.

[PeterBowman]

WIP because of roboticslab-uc3m/yarp-devices#237 and roboticslab-uc3m/yarp-devices#229.

[PeterBowman]

I can't find any references on the Kollmorgen QT1917 motor. The oldest datasheets I could locate are these ones (2005): Direct_Drive_DC_Torque_Motors_Catalog_2005.pdf, NT_QT_T_Catalog.pdf (gdrive). Therefore, I cannot establish the actual value of the motor torque constant.

[jgvictores]

While I was skeptical there could be a typo or similar, note that there are actual pictures where components are stamped "qt-1917-a".

[jgvictores]

Older document, still no "qt-1917-a":

• https://www.kollmorgen.com/sites/default/files/public_downloads/Kollmorgen%20Inland%20Motor%20Direct%20Drive%20DC%20Motors%20Catalog%20EN.pdf = https://www.kollmorgen.com/sites/default/files/NT_QT_T_Catalog.pdf

Note that Kollmorgen offers custom variations. Maybe @smcdiaz knows better. ^^

[PeterBowman]

New manipulator.ini:

asibot-configuration-files/share/contexts/launchCanBus/manipulator.ini

Lines 1 to 14 in e02bfc6

	[devCan armBus]
	device "CanBusControlboard"
	description "CAN bus wrapper for ASIBOT manipulator"
	buses ("pcan-arm")
	pcan-arm ("id1-ipos" "id2-ipos" "id3-ipos" "id4-ipos" "id5-ipos")
	[wrapper armPort]
	device "controlboardwrapper2"
	name "/asibot/arm"
	period 60
	joints 5
	networks ("armBus")
	armBus (0 4 0 4)
	calibrator "calib-generic"

See also manipulator-lacquey.ini:

asibot-configuration-files/share/contexts/launchCanBus/manipulator-lacquey.ini

Lines 1 to 22 in e02bfc6

	[devCan armBus]
	device "CanBusControlboard"
	description "CAN bus wrapper for ASIBOT manipulator (with Lacquey gripper)"
	buses ("pcan-arm")
	pcan-arm ("id1-ipos" "id2-ipos" "id3-ipos" "id4-ipos" "id5-ipos" "id6-lacquey")
	[wrapper armPort]
	device "controlboardwrapper2"
	name "/asibot/arm"
	period 60
	joints 5
	networks ("armBus")
	armBus (0 4 0 4)
	calibrator "calib-generic"
	[wrapper gripperPort]
	device "controlboardwrapper2"
	name "/asibot/gripper"
	period 60
	joints 1
	networks ("armBus")
	armBus (0 0 5 5)

[PeterBowman]

Found by @smcdiaz and @jgvictores: qt-1917.zip.

The (motor) torque constant, a.k.a. torque sensitivity (Kt), is 0.0862 Nm/A.