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Add configuration files for an experimental setup #701

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Dec 31, 2024
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Add configuration files for an experimental setup #701

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2842e72
Added ankle-Setup configuration (calibration2 needs to be revised)
AntonioViscomi Dec 6, 2024
b30d64b
resized image
AntonioViscomi Dec 30, 2024
7b90eb1
updated readme
AntonioViscomi Dec 30, 2024
09a254d
Improved README formatting
AntonioViscomi Dec 30, 2024
5e1ad38
Update experimentalSetups/ankleSetup/README.md
pattacini Dec 30, 2024
47aad0a
Update experimentalSetups/ankleSetup/README.md
pattacini Dec 30, 2024
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11 changes: 11 additions & 0 deletions experimentalSetups/ankleSetup/README.md
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# Ankle setup
The setup was created to do some test for the ErgoCub 2.0 Ankle Design project. It utilizes a Camozzi linear actuator, shown in the image below. <br>

<img align="left" src="readme_assets/imgs/setup.jpg">
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| Motor | Electronic boards |
|-------- |------------------- |
| `MECAPION APM SA01ACN-8` [Datasheet](http://wingst-icub.iit.local/direct_download.php?LINK=%2F%2Fiiticubstor01.iit.local%2Ficub-tech%2Fmechatronics%2FDatasheet%2FMotors%2FMecapion%2FMecapion+servo+motors+2012.pdf) | `2FOC` [Documentation](https://github.com/icub-tech-iit/electronics-boards/tree/master/2foc/docs) |
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|| `EMS4` [Documentation](https://github.com/icub-tech-iit/electronics-boards/tree/master/ems4/docs) | <br>

The motor datasheet includes integrated encoder specifications.
28 changes: 28 additions & 0 deletions experimentalSetups/ankleSetup/ankle-setup.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<robot name="ankle-setup" build="1" portprefix="ankleSetup" xmlns:xi="http://www.w3.org/2001/XInclude">

<devices>
<params>
<xi:include href="hardware/electronics/pc104.xml" />
</params>

<!-- motor controllers wrappers -->
<xi:include href="wrappers/motorControl/ankle-setup-mc_wrapper.xml" />
<xi:include href="wrappers/motorControl/ankle-setup-mc_remapper.xml" />


<!-- ankle -->
<xi:include href="hardware/motorControl/ankle-setup-mc.xml" />

<!-- CALIBRATORS -->
<xi:include href="calibrators/ankle-setup-calib.xml" />

<!-- ROBOMETRY -->
<xi:include href="telemetry/telemetry.xml" />
<!-- nws wrapper -->
<xi:include href="wrappers/motorControl/ankle-setup-rawval-nws_wrapper.xml" />

</devices>
</robot>
52 changes: 52 additions & 0 deletions experimentalSetups/ankleSetup/calibrators/ankle-setup-calib.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="ankle-setup-calibrator" type="parametricCalibratorEth">
<xi:include href="../general.xml" />

<group name="GENERAL">
<param name="joints"> 1 </param> <!-- the number of joints of the robot part -->
<param name="deviceName"> ankleSetupCalib </param>
</group>

<group name="HOME">
<param name="positionHome"> 0 </param>
<param name="velocityHome"> 20 </param>
</group>



<group name="CALIBRATION">
<!-- small -->
<param name="calibrationType"> 5 </param>
<param name="calibration1"> 1600 </param> <!-- 20934 amo (12) -4200 (10) 63820 aksim2-->
<param name="calibration2"> 17816 </param>
<param name="calibration3"> 0 </param>


<param name="calibration4"> 0 </param>
<param name="calibration5"> 0 </param>
<param name="calibrationZero"> 0 </param> <!-- -100(10)-->
<param name="calibrationDelta"> 0 </param>

<param name="startupPosition"> 0 </param>
<param name="startupVelocity"> 20 </param>
<param name="startupMaxPwm"> 4000 </param>
<param name="startupPosThreshold"> 2 </param>
</group>

<!-- check old calibrator for the correct sequence, then ask to Randazz -->
<param name="CALIB_ORDER"> (0) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">ankle-setup-mc_remapper</param>
</action>

<action phase="interrupt1" level="1" type="park">
<param name="target">ankle-setup-mc_remapper</param>
</action>

<action phase="interrupt3" level="1" type="abort" />

</device>
2 changes: 2 additions & 0 deletions experimentalSetups/ankleSetup/firmwareupdater.ini
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[DRIVERS]
ETH "eth"
12 changes: 12 additions & 0 deletions experimentalSetups/ankleSetup/general.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankleSetup" build="1">

<group name="GENERAL">
<param name="skipCalibration"> false </param>
<param name="useRawEncoderData"> false </param>
<param name="useLimitedPWM"> false </param>
<param name="verbose"> false </param>
</group>
</params>
39 changes: 39 additions & 0 deletions experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle-setup" build="1">

<xi:include href="./pc104.xml" />

<group name="ETH_BOARD">

<group name="ETH_BOARD_PROPERTIES">
<param name="IpAddress"> 10.0.1.7 </param>
<param name="IpPort"> 12345 </param>
<param name="Type"> ems4 </param>
<param name="maxSizeRXpacket"> 768 </param>
<param name="maxSizeROP"> 384 </param>
</group>

<group name="ETH_BOARD_SETTINGS">
<param name="Name"> "ankle-setup" </param>
<group name="RUNNINGMODE">
<param name="period"> 1000 </param>
<param name="maxTimeOfRXactivity"> 400 </param>
<param name="maxTimeOfDOactivity"> 300 </param>
<param name="maxTimeOfTXactivity"> 300 </param>
<param name="TXrateOfRegularROPs"> 5 </param>
</group>
</group>

<group name="ETH_BOARD_ACTIONS">
<group name="MONITOR_ITS_PRESENCE">
<param name="enabled"> true </param>
<param name="timeout"> 0.020 </param>
<param name="periodOfMissingReport"> 60.0 </param>
</group>
</group>

</group>

</params>
14 changes: 14 additions & 0 deletions experimentalSetups/ankleSetup/hardware/electronics/pc104.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle" build="1">

<group name="PC104">
<param name="PC104IpAddress"> 10.0.1.104 </param>
<param name="PC104IpPort"> 12345 </param>
<param name="PC104TXrate"> 1 </param>
<param name="PC104RXrate"> 5 </param>
</group>

</params>

73 changes: 73 additions & 0 deletions experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle-setup" build="1">
<group name="GENERAL">
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 1 </param>
<param name="AxisMap"> 0 </param>
<param name="AxisName"> "ankle_joint" </param>
<param name="AxisType"> "revolute" </param>
<param name="Encoder"> 182.044 </param>
<param name="fullscalePWM"> 32000 </param>
<param name="ampsToSensor"> 1000.0 </param>
<param name="Gearbox_M2J"> 1 </param>
<param name="Gearbox_E2J"> 1 </param> <!--64 when using AMO 1 when using aksim (is the number of sectors)-->
<param name="useMotorSpeedFbk"> 1 </param>
<param name="MotorType"> "MECAPION_APM-SA01ACN-8" </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 0 </param>
<param name="hardwareJntPosMin"> 0 </param>
<param name="rotorPosMin"> 0 </param>
<param name="rotorPosMax"> 0 </param>
</group>

<group name="2FOC">
<param name="Verbose"> 0 </param>
<param name="AutoCalibration"> 0 </param>
<param name="HasHallSensor"> 0 </param>
<param name="HasTempSensor"> 0 </param>
<param name="HasRotorEncoder"> 1 </param>
<param name="HasRotorEncoderIndex"> 1 </param>
<param name="HasSpeedEncoder"> 0 </param>
<param name="RotorIndexOffset"> 105 </param>
<param name="MotorPoles"> 8 </param>
</group>

<group name="COUPLINGS">
<param name ="matrixJ2M">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixM2J">
1.000 0.000 0.000 0.000
0.000 1.000 0.000 0.000
0.000 0.000 1.000 0.000
0.000 0.000 0.000 1.000
</param>

<param name ="matrixE2J">
1.00 0.00 0.00 0.00 0.00 0.00
0.00 1.00 0.00 0.00 0.00 0.00
0.00 0.00 1.00 0.00 0.00 0.00
0.00 0.00 0.00 1.00 0.00 0.00
</param>
</group>

<group name="JOINTSET_CFG">
<param name= "numberofsets"> 1 </param>
<group name="JOINTSET_0">
<param name="listofjoints"> 0 </param>
<param name="constraint"> none </param>
<param name="param1"> 0 </param>
<param name="param2"> 0 </param>
</group>
</group>

</params>
127 changes: 127 additions & 0 deletions experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<device xmlns:xi="http://www.w3.org/2001/XInclude" name="ankle-setup-mc" type="embObjMotionControl">

<xi:include href="../../general.xml" />
<xi:include href="../../hardware/electronics/ankle-setup-eln.xml" />
<xi:include href="../../hardware/mechanicals/ankle-setup-mec.xml" />
<xi:include href="./ankle-setup-mc_service.xml" />

<!-- joint number 0 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 0 </param>
<param name="jntPosMin"> 0 </param>
<param name="jntVelMax"> 100 </param>
<param name="motorNominalCurrents"> 5000 </param>
<param name="motorPeakCurrents"> 10000 </param>
<param name="motorOverloadCurrents"> 15000 </param>
<param name="motorPwmLimit"> 32000 </param>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 </param>
</group>

<group name="IMPEDANCE">
<param name="stiffness"> 0 </param>
<param name="damping"> 0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT </param>
<param name="mixedControl"> POS_PID_DEFAULT </param>
<param name="torqueControl"> TRQ_PID_DEFAULT </param>
<param name="currentPid"> 2FOC_CUR_CONTROL </param>
<param name="speedPid"> 2FOC_VEL_CONTROL </param>
</group>


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 500 </param>
<param name="kd"> 0 </param>
<param name="ki"> 100 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 3000 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
</group>

<!-- default position PID: end -->


<!-- default torque PID: begin -->
<group name="TRQ_PID_DEFAULT">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 1.8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 0 </param>
<param name="maxOutput"> 2000 </param>
<param name="maxInt"> 1000 </param>
<param name="ko"> 0.55 </param>
<param name="stictionUp"> 0 </param>
<param name="stictionDown"> 0 </param>
<param name="kff"> 0 </param>
<param name="kbemf"> 0 </param>
<param name="filterType"> 3 </param>
<param name="ktau"> 0 </param>
<param name="viscousPos"> 1.0 </param>
<param name="viscousNeg"> 1.0 </param>
<param name="coulombPos"> 0.0 </param>
<param name="coulombNeg"> 0.0 </param>
</group>
<!-- default torque PID: end -->


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

<group name="2FOC_CUR_CONTROL">
<param name="controlLaw"> low_lev_current </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 8 </param>
<param name="kd"> 0 </param>
<param name="ki"> 2 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
<param name="kff"> 0 </param>
</group>

<group name="2FOC_VEL_CONTROL">
<param name="controlLaw"> low_lev_speed </param>
<param name="fbkControlUnits"> machine_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 </param>
<param name="kp"> 12 </param>
<param name="kd"> 0 </param>
<param name="ki"> 16 </param>
<param name="shift"> 10 </param>
<param name="maxOutput"> 32000 </param>
<param name="maxInt"> 32000 </param>
</group>

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


<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->

<group name="OTHER_CONTROL_PARAMETERS">
<param name="deadZone"> 0.0049 </param>
</group>

</device>
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