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ipit - fixed files #448

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merged 1 commit into from
Mar 2, 2023
Merged

ipit - fixed files #448

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8 changes: 4 additions & 4 deletions experimentalSetups/ipit/calibrators/sm_calib.xml
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Expand Up @@ -27,10 +27,10 @@
<param name="calibrationZero"> 0.0 0 0 0 </param>
<param name="calibrationDelta"> 0.0 0 0 0 </param>

<param name="startupPosition"> 0.0 0.0 0.0 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="startupVelocity"> 20.0 20.0 20.0 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="startupMaxPwm"> 500 500 3360 3360 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="startupPosThreshold"> 10 10 10 10 </param> <!-- tolerance of position in deg relative to positionZero param -->
<param name="startupPosition"> 650 0.0 0.0 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="startupVelocity"> 0.0 20.0 20.0 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="startupMaxPwm"> 10.0 500 3360 3360 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="startupPosThreshold"> 650 10 10 10 </param> <!-- tolerance of position in deg relative to positionZero param -->
<param name="startupDisablePosCheck"> 1 1 1 1 </param>
<param name="calibrationTimeout"> 1.0 1.0 1.0 1.0 </param>
</group>
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62 changes: 56 additions & 6 deletions experimentalSetups/ipit/hardware/motorControl/sm_mc_hardware.xml
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Expand Up @@ -14,10 +14,10 @@
<param name="jntPosMax"> 0 0 0 0 </param>
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 1000 1000 1000 1000 </param>
<param name="motorNominalCurrents"> 1000 160 1000 1000 </param>
<param name="motorPeakCurrents"> 2000 500 2000 2000 </param>
<param name="motorPwmLimit"> 3360 3360 3360 3360 </param> <!-- max is 3360 -->
<param name="motorOverloadCurrents"> 2500 1000 2500 2500 </param>
<param name="motorNominalCurrents"> 2000 160 2000 2000 </param>
<param name="motorPeakCurrents"> 2500 500 2500 2500 </param>
<param name="motorPwmLimit"> 1000 3360 3360 3360 </param> <!-- max is 3360 -->
</group>

<group name="TIMEOUTS">
Expand Down Expand Up @@ -59,7 +59,7 @@
<!-- default position PID: end -->


<!-- other default PIDs: begin -->
<!-- other default PIDs: begin -->

<group name="TRQ_PID_DEFAULT">
<param name="controlLaw"> torque </param>
Expand All @@ -84,6 +84,56 @@


<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->
<group name="JOINT_MINJERK_OUT_VEL_CTRL">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> velocity </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 1 1 </param>
<param name="kp"> 5 5 </param>
<param name="kd"> 0 0 </param>
<param name="maxOutput"> 32000 32000 </param>
</group>

<group name="JOINT_DIRECT_OUT_VEL_CTRL">
<param name="controlLaw"> direct </param>
<param name="outputType"> velocity </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 1 1 </param>
<param name="kp"> 5 5 </param>
<param name="kd"> 0 0 </param>
<param name="maxOutput"> 32000 32000 </param>
</group>

<group name="JOINT_MINJERK_OUT_DC_PWM_CTRL">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 0 0 0 </param>
<param name="kp"> 3000 3000 3000 0 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 5000 5000 5000 0 </param>
<param name="maxOutput"> 32000 32000 32000 0 </param>
<param name="maxInt"> 4000 4000 4000 0 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
</group>

<group name="JOINT_DIRECT_OUT_DC_PWM_CTRL">
<param name="controlLaw"> direct </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 0 0 0 </param>
<param name="kp"> 3000 3000 3000 0 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 5000 5000 5000 0 </param>
<param name="maxOutput"> 32000 32000 32000 0 </param>
<param name="maxInt"> 4000 4000 4000 0 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
</group>

</device>
10 changes: 5 additions & 5 deletions experimentalSetups/ipit/hardware/motorControl/sm_mc_service.xml
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Expand Up @@ -24,11 +24,11 @@
</group>

<group name="ENCODER1">
<param name="type"> absanalog none none absanalog </param>
<param name="port"> CONN:P4 CONN:none CONN:none CONN:P2 </param>
<param name="position"> atjoint none none atjoint </param>
<param name="resolution"> 65535 0 0 65535 </param>
<param name="tolerance"> 0 0.0 0.0 0.0 </param>
<param name="type"> absanalog absanalog none none </param>
<param name="port"> CONN:P4 CONN:P2 CONN:none CONN:none </param>
<param name="position"> atjoint atjoint none none </param>
<param name="resolution"> 65535 65535 0 0 </param>
<param name="tolerance"> 0 0.0 0.0 0.0 </param>

</group>

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2 changes: 1 addition & 1 deletion experimentalSetups/ipit/sm.xml
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Expand Up @@ -21,7 +21,7 @@
<xi:include href="wrappers/inertials/ipit-IMU-wrapper.xml" />
-->
<!-- CALIBRATORS -->
<xi:include href="./calibrators/sm_calib.xml" />
<!-- <xi:include href="./calibrators/sm_calib.xml" /> -->

</devices>
</robot>