Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

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

Merged
merged 1 commit into from
Feb 15, 2024
Merged

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

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/board/amc/application/v1/cfg/theApplication_config.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down
4 changes: 4 additions & 0 deletions emBODY/eBcode/arch-arm/embobj/plus/mc/JointSet.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;

Expand Down
6 changes: 3 additions & 3 deletions emBODY/eBcode/arch-arm/mbd/wrist_decoupler/rtwtypes.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
Loading