Skip to content

Commit

Permalink
Merge branch 'develop'
Browse files Browse the repository at this point in the history
  • Loading branch information
@jgvictores
jgvictores committed Jan 8, 2018
2 parents c458fa3 + 185dfa9 commit 960497b
Show file tree
Hide file tree
Showing 7 changed files with 242 additions and 1 deletion.
3 changes: 2 additions & 1 deletion share/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,4 +20,5 @@ add_subdirectory(teoBase)
add_subdirectory(teoSimBase)
add_subdirectory(teoTools)
add_subdirectory(yarpmotorgui)

add_subdirectory(launchManipulation)
add_subdirectory(launchLocomotion)
13 changes: 13 additions & 0 deletions share/launchLocomotion/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
# Copyright: 2017 UC3M
# Author: Juan G Victores and Raul de Santos Rico
# CopyPolicy: Released under the terms of the GNU GPL v2.0.

set(appname launchLocomotion)


file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template)

yarp_install(FILES ${conf} DESTINATION ${TEO-CONFIGURATION-FILES_CONTEXTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${scripts} DESTINATION ${TEO-CONFIGURATION-FILES_APPLICATIONS_TEMPLATES_INSTALL_DIR})

56 changes: 56 additions & 0 deletions share/launchLocomotion/conf/launchLocomotion.ini
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
/// launchLocomotion.ini ///

[devCan0]
device CanBusControlboard
canDevice /dev/can0
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute
ids 14 6 5 4 3 2 1 114 106 105 104 103 102 101
maxs 50 90 20 45 80 25 25 0 0 0 0 0 0 0
mins -10 -90 -20 -30 -5 -25 -25 0 0 0 0 0 0 0
maxVels 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 0
minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0
trs 480 400 523.2 192 235.2 270.4 235.2 -1 -1 1 1 1 1 1
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096

[devCan1]
device CanBusControlboard
canDevice /dev/can1
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute
ids 13 7 8 9 10 11 12 113 107 108 109 110 111 112
maxs 45 90 20 45 80 25 25 0 0 0 0 0 0 0
mins -45 -90 -20 -30 -5 -25 -25 0 0 0 0 0 0 0
maxVels 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 0
minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0
trs 160 400 523.2 192 235.2 270.4 235.2 1 1 -1 -1 -1 -1 -1
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096


[wrapper0]
device controlboardwrapper2
name /teo/rightLeg
period 60
joints 6
networks (devCan0)
devCan0 0 5 1 6

[wrapper1]
device controlboardwrapper2
name /teo/leftLeg
period 60
joints 6
networks (devCan1)
devCan1 0 5 1 6

[wrapper2]
device controlboardwrapper2
name /teo/trunk
period 60
joints 2
networks (devCan0 devCan1)
devCan0 1 1 0 0
devCan1 0 0 0 0

13 changes: 13 additions & 0 deletions share/launchManipulation/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
# Copyright: 2017 UC3M
# Author: Juan G Victores & Raul de Santos Rico
# CopyPolicy: Released under the terms of the GNU GPL v2.0.

set(appname launchManipulation)


file(GLOB conf ${CMAKE_CURRENT_SOURCE_DIR}/conf/*.ini)
file(GLOB scripts ${CMAKE_CURRENT_SOURCE_DIR}/scripts/*.template)

yarp_install(FILES ${conf} DESTINATION ${TEO-CONFIGURATION-FILES_CONTEXTS_INSTALL_DIR}/${appname})
yarp_install(FILES ${scripts} DESTINATION ${TEO-CONFIGURATION-FILES_APPLICATIONS_TEMPLATES_INSTALL_DIR})

56 changes: 56 additions & 0 deletions share/launchManipulation/conf/launchManipulation.ini
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
/// launchManipulation.ini ///

[devCan0]
device CanBusControlboard
canDevice /dev/can0
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute
ids 28 15 16 17 18 19 20 65 115 116 117 118 119 120
maxs 10 70 15 10 100 90 90 1200 0 0 0 0 0 0
mins -10 -45 -70 -55 -10 -101 -55 -1200 0 0 0 0 0 0
maxVels 1000 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0
minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0
trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096

[devCan1]
device CanBusControlboard
canDevice /dev/can1
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute CuiAbsolute
ids 27 21 22 23 24 25 26 64 121 122 123 124 125 126
maxs 60 45 70 55 10 90 55 1200 0 0 0 0 0 0
mins -60 -70 -15 -50 -100 -90 -90 -1200 0 0 0 0 0 0
maxVels 1000 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0
minVels 0 0 0 0 0 0 0 0 0 0 0 0 0 0
trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096

[wrapper0]
device controlboardwrapper2
name /teo/rightArm
period 60
joints 7
networks (devCan0)
devCan0 0 6 1 7

[wrapper1]
device controlboardwrapper2
name /teo/leftArm
period 60
joints 7
networks (devCan1)
devCan1 0 6 1 7

[wrapper2]
device controlboardwrapper2
name /teo/head
period 60
joints 2
networks (devCan1 devCan0)
devCan1 0 0 0 0
devCan0 1 1 0 0
52 changes: 52 additions & 0 deletions share/launchManipulation/conf/launchManipulation_only_head.ini
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
/// launchManipulation.ini ///

[devCan0]
device CanBusControlboard
canDevice /dev/can0
types TechnosoftIpos FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint
ids 28 15 16 17 18 19 20 65 115 116 117 118 119 120
maxs 10 70 15 10 100 90 90 1200 0 0 0 0 0 0
mins -10 -45 -70 -75 -10 -101 -55 -1200 0 0 0 0 0 0
trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096

[devCan1]
device CanBusControlboard
canDevice /dev/can1
types TechnosoftIpos FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint FakeJoint
ids 27 21 22 23 24 25 26 64 121 122 123 124 125 126
maxs 60 45 70 30 10 90 55 1200 0 0 0 0 0 0
mins -60 -70 -15 -90 -100 -90 -90 -1200 0 0 0 0 0 0
trs 100 160 160 100 160 100 100 0 1 1 1 1 1 1
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0 0 0 0 0 0 0
refAccelerations 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
refSpeeds 10.0 10.0 10.0 10.0 10.0 10.0 10.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
encoderPulsess 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096 4096

[wrapper0]
device controlboardwrapper2
name /teo/rightArm
period 60
joints 7
networks (devCan0)
devCan0 0 6 1 7

[wrapper1]
device controlboardwrapper2
name /teo/leftArm
period 60
joints 7
networks (devCan1)
devCan1 0 6 1 7

[wrapper2]
device controlboardwrapper2
name /teo/head
period 60
joints 2
networks (devCan1 devCan0)
devCan1 0 0 0 0
devCan0 1 1 0 0
50 changes: 50 additions & 0 deletions share/launchManipulation/conf/launchManipulation_wo_cuis.ini
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
/// launchManipulation.ini ///

[devCan0]
device CanBusControlboard
canDevice /dev/can0
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch
ids 27 15 16 17 18 19 20 65
maxs 10 70 15 10 100 90 90 1200
mins -10 -45 -70 -75 -10 -101 -55 -1200
trs 100 160 160 100 160 100 100 0
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0
refAccelerations 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0
refSpeeds 5 5 5 5 5 5 5 0

[devCan1]
device CanBusControlboard
canDevice /dev/can1
types TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos TechnosoftIpos LacqueyFetch
ids 28 21 22 23 24 25 26 64
maxs 60 45 70 30 10 90 55 1200
mins -60 -70 -15 -90 -100 -90 -90 -1200
trs 100 160 160 100 160 100 100 0
ks 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0.0706 0
refAccelerations 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0.575437 0
refSpeeds 5 5 5 5 5 5 5 0

[wrapper0]
device controlboardwrapper2
name /teo/rightArm
period 60
joints 7
networks (devCan0)
devCan0 0 6 1 7

[wrapper1]
device controlboardwrapper2
name /teo/leftArm
period 60
joints 7
networks (devCan1)
devCan1 0 6 1 7

[wrapper2]
device controlboardwrapper2
name /teo/head
period 60
joints 2
networks (devCan1 devCan0)
devCan1 0 0 0 0
devCan0 1 1 0 0

0 comments on commit 960497b

Please sign in to comment.