AMC V1.13 with improved wrist Mk2 direct kinematics solver (#469)

robotology · Feb 15, 2024 · 6ad7f5a · 6ad7f5a
1 parent edab2bb
commit 6ad7f5a
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Showing 5 changed files with 883 additions and 626 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/theApplication_config.h b/emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/theApplication_config.h
@@ -38,8 +38,8 @@ namespace embot { namespace app { namespace eth {
         .property =
         {
             Process::eApplication,
-            {1, 12},
-            {2024, Month::Feb, Day::twelve, 11, 00}
+            {1, 13},
+            {2024, Month::Feb, Day::fifteen, 11, 00}
         },
         .OStick = 1000*embot::core::time1microsec,
         .OSstacksizeinit = 10*1024,

diff --git a/emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.h b/emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.h
@@ -42,6 +42,10 @@ enum wrist_mk_version_t {WRIST_MK_VER_2_0 = 20,  WRIST_MK_VER_2_1 = 21};
 /* The struct wristMk2_t contains all the data related to the wrist MK2*/
 typedef struct //wristMk2_t
 {
+	// The warmup flag is == 2 at startup and makes the wrist start a first parking move.
+    // warmup == 1 means first parking in progress, and warmup == 0 means first parking done.
+    // Thanks to the new direct kinematics solver all the parking procedures will be likely removed
+    // after some time of use of the robot without problems because no more necessary.
     BOOL is_parking;
     int warmup;
 

diff --git a/emBODY/eBcode/arch-arm/mbd/wrist_decoupler/rtwtypes.h b/emBODY/eBcode/arch-arm/mbd/wrist_decoupler/rtwtypes.h
@@ -7,9 +7,9 @@
 //
 // Code generated for Simulink model 'wrist_decoupler'.
 //
-// Model version                  : 7.13
-// Simulink Coder version         : 9.9 (R2023a) 19-Nov-2022
-// C/C++ source code generated on : Tue Jul 25 11:18:40 2023
+// Model version                  : 8.5
+// Simulink Coder version         : 23.2 (R2023b) 01-Aug-2023
+// C/C++ source code generated on : Wed Feb 14 13:47:53 2024
 //
 // Target selection: ert.tlc
 // Embedded hardware selection: ARM Compatible->ARM Cortex-M