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Add support for viscousPos/Neg and coulombPos/Neg friction parameters #254

Merged
merged 6 commits into from
Mar 7, 2022
Merged

Add support for viscousPos/Neg and coulombPos/Neg friction parameters #254

merged 6 commits into from
Mar 7, 2022

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sgiraz
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@sgiraz sgiraz commented Feb 23, 2022 •
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What's new in this PR:

  • When the MController_config_joint is triggered, now it is able to manage the new friction parameters (viscous and coulomb) properly.

Note:

  • ⚠️ We still need to clarify how we should handle the size of ROP in EOMtheEMSapplCfg_cfg.h
  • Code tested successfully on a custom single joint setup (mc4plus + DC motor + aea2)
  • Code tested successfully on iCubGenova02 🟣

@sgiraz sgiraz requested a review from marcoaccame February 23, 2022 12:36
@sgiraz sgiraz self-assigned this Feb 23, 2022
@sgiraz sgiraz marked this pull request as ready for review February 25, 2022 18:05
sgiraz added 5 commits March 2, 2022 19:53
@sgiraz
Add support for new friction parameters used during the current torqu…
eae3aee 
…e control.
@sgiraz
Replace viscous_up/down_val and coulomb_up/down_val with viscous_pos/…
f66cbca 
…neg_val and coulomb_pos/neg_val
@sgiraz
Update Out Datagram size
d9f776b 
- Increase EOMTHEEMSAPPLCFG_SOCKET_OUTDGRAMSIZEOF by 8
- Restore EOMTHEEMSAPPLCFG_TRANSCEIVER_ROPFRAMEREGULARSCAPACITY as original
- Update EOMTHEEMSAPPLCFG_TRANSCEIVER_ROPFRAMEREPLIESCAPACITY to 256+8
@sgiraz
Update FW version ems + mc4plus
7a9afc3
@sgiraz
Update build date and time.
1c3ffa6 
Add USE_VISCOUS_COULOMB macro in Pid.c.
Update DATAGRAMSIZE and ROPFRAMEREPLIESCAPACITY of mc2plus as well
@sgiraz sgiraz mentioned this pull request Mar 2, 2022
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@marcoaccame marcoaccame mentioned this pull request Mar 7, 2022
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This PR is to be merged as whole with all these PRs:

marcoaccame
marcoaccame approved these changes Mar 7, 2022
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OK, we can proceed w/ the merge.

@marcoaccame marcoaccame merged commit a5176f2 into robotology:devel Mar 7, 2022
@sgiraz sgiraz mentioned this pull request Mar 8, 2022
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@isorrentino isorrentino isorrentino left review comments

@GiulioRomualdi GiulioRomualdi GiulioRomualdi left review comments

@pattacini pattacini pattacini left review comments

@marcoaccame marcoaccame marcoaccame approved these changes

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@sgiraz @marcoaccame @pattacini @GiulioRomualdi @isorrentino