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[ergoCubSN001] Updates config files for the new 2FOC FW version (V3.6) (
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#575)
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@AntonioConsilvio
AntonioConsilvio authored Oct 4, 2023
1 parent 86ad54d commit 0415b45
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Showing 9 changed files with 38 additions and 38 deletions.
8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml
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</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

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</group>

<group name="ENCODER2">
<param name="type"> roie roie </param> <!-- lcore oppure roie ????? -->
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param> <!-- segno da vedersi -->
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

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</group>

<group name="ENCODER2">
<param name="type"> roie roie </param> <!-- lcore oppure roie ????? -->
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param> <!-- segno da vedersi -->
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

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<param name="type"> amo amo amo amo </param>
<param name="port"> CONN:P6 CONN:P8 CONN:P7 CONN:P9 </param>
<param name="position"> atjoint atjoint atjoint atjoint </param>
<param name="resolution"> 16384 16384 16384 -16384 </param>
<param name="resolution"> 16384 16384 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> roie roie roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 </param>
<param name="position"> atmotor atmotor atmotor atmotor </param>
<param name="resolution"> 14400 14400 14400 14400 </param>
<param name="resolution"> 3600 3600 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 3.6 3.6 </param>
</group>

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12 changes: 6 additions & 6 deletions ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -38,15 +38,15 @@
<param name="type"> amo amo </param>
<param name="port"> CONN:P6 CONN:P7 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 </param>
<param name="resolution"> 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param>
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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10 changes: 5 additions & 5 deletions ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -39,15 +39,15 @@
<param name="type"> amo amo </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 16384 -16384 </param> <!-- segno da vedersi -->
<param name="resolution"> 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> roie roie </param> <!-- lcore oppure roie ????? -->
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param> <!-- segno da vedersi -->
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -44,10 +44,10 @@
</group>

<group name="ENCODER2">
<param name="type"> roie roie </param> <!-- lcore oppure roie ????? -->
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param> <!-- segno da vedersi -->
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -39,15 +39,15 @@
<param name="type"> amo amo amo amo </param>
<param name="port"> CONN:P6 CONN:P8 CONN:P7 CONN:P9 </param>
<param name="position"> atjoint atjoint atjoint atjoint </param>
<param name="resolution"> -16384 -16384 -16384 16384 </param>
<param name="resolution"> -16384 -16384 -16384 16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 0.703 </param>
</group>

<group name="ENCODER2">
<param name="type"> roie roie roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 </param>
<param name="position"> atmotor atmotor atmotor atmotor </param>
<param name="resolution"> 14400 14400 14400 14400 </param>
<param name="resolution"> 3600 3600 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 3.6 3.6 </param>
</group>

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8 changes: 4 additions & 4 deletions ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -44,9 +44,9 @@

<group name="ENCODER2">
<param name="type"> roie roie </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
<param name="position"> atmotor atmotor </param>
<param name="resolution"> 14400 14400 </param>
<param name="resolution"> 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 </param>
</group>

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6 changes: 3 additions & 3 deletions ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
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Expand Up @@ -21,8 +21,8 @@
</group>
<group name="FIRMWARE">
<param name="major"> 3 </param>
<param name="minor"> 3 </param>
<param name="build"> 10 </param>
<param name="minor"> 6 </param>
<param name="build"> 21 </param>
</group>
</group>

Expand All @@ -48,7 +48,7 @@
<param name="type"> roie roie roie </param>
<param name="port"> CAN1:2:0 CAN1:3:0 CAN1:1:0 </param>
<param name="position"> atmotor atmotor atmotor </param>
<param name="resolution"> 14400 14400 14400 </param>
<param name="resolution"> 3600 3600 3600 </param>
<param name="tolerance"> 3.6 3.6 3.6 </param>
</group>

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