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Feature/temperature reading (#597)
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@MSECode
MSECode authored Dec 1, 2023
1 parent 5b7b799 commit 22af069
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Showing 20 changed files with 73 additions and 39 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb2-j0_1-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_arm-eb4-j2_3-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="Verbose"> 0 0 </param>
<param name="AutoCalibration"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated-->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
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Expand Up @@ -28,8 +28,8 @@
<group name="2FOC">
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb1-j0_1-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param> <!-- pero' ha il sensore di temp, quindi ... metti 1 -->
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_arm-eb3-j2_3-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
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Expand Up @@ -32,7 +32,7 @@
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="HasTempSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="Verbose"> 0 0 0 </param>
<param name="AutoCalibration"> 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 </param>
<param name="HasTempSensor"> 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
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2 changes: 2 additions & 0 deletions ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc.xml
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Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 12000 12000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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2 changes: 2 additions & 0 deletions ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc.xml
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Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 10000 9000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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14 changes: 8 additions & 6 deletions ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Expand Up @@ -14,11 +14,13 @@
<group name="LIMITS">
<param name="jntPosMax"> 102 108 78 5 </param>
<param name="jntPosMin"> -42 -15 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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<param name="kp"> -5000 7000 -3000 -10000 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -1500 5000 -200 -1500 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxInt"> 1500 5000 750 2000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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16 changes: 9 additions & 7 deletions ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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Expand Up @@ -11,13 +11,15 @@
<!-- joint name ankle_pitch ankle_roll -->
<!-- joint number 0 1 -->
<group name="LIMITS">
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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2 changes: 2 additions & 0 deletions ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc.xml
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Expand Up @@ -19,6 +19,8 @@
<param name="motorPeakCurrents"> 12000 12000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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2 changes: 2 additions & 0 deletions ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc.xml
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Expand Up @@ -18,6 +18,8 @@
<param name="motorPeakCurrents"> 10000 9000 </param>
<param name="motorOverloadCurrents"> 15000 15000 </param>
<param name="motorPwmLimit"> 8000 8000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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12 changes: 7 additions & 5 deletions ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
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Expand Up @@ -14,11 +14,13 @@
<group name="LIMITS">
<param name="jntPosMax"> 102 108 78 5 </param>
<param name="jntPosMin"> -42 -15 -78 -103 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<param name="jntVelMax"> 240 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 10000 </param>
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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6 changes: 4 additions & 2 deletions ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
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Expand Up @@ -11,13 +11,15 @@
<!-- joint name ankle_pitch ankle_roll -->
<!-- joint number 0 1 -->
<group name="LIMITS">
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntPosMax"> 43 23 </param>
<param name="jntPosMin"> -43 -23 </param>
<param name="jntVelMax"> 240 240 </param>
<param name="motorNominalCurrents"> 10000 10000 </param>
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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2 changes: 2 additions & 0 deletions ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Expand Up @@ -20,6 +20,8 @@
<param name="motorPeakCurrents"> 14000 17000 10000 </param>
<param name="motorOverloadCurrents"> 18000 18000 15000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
Expand Down
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