left_arm-eb2-j0_1-strain.xml

<?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="left_arm-eb2-j0_1-strain" type="embObjMultipleFTsensors">
    
        <xi:include href="../../general.xml"/>

        <xi:include href="../../hardware/electronics/left_arm-eb2-j0_1-eln.xml" />
    
        <group name="SERVICE">
            
            <param name="type"> eomn_serv_AS_ft </param>
        
           <group name="PROPERTIES">
  
                 <group name="CANBOARDS">
                    <param name="type">                 strain2                 </param>

                    <group name="PROTOCOL">
                        <param name="major">            2                       </param>    
                        <param name="minor">            0                       </param>     
                    </group>                    
                    <group name="FIRMWARE">
                        <param name="major">            2                       </param>    
                        <param name="minor">            2                       </param>
                        <param name="build">            0                       </param>
                    </group>
                </group>
                
                <group name="SENSORS">
                    <param name="id">                   l_arm_ft_sensor   </param>
                    <param name="board">                 strain2             </param>
                    <param name="location">             CAN2:13                 </param>
                </group>                
            
            </group>

            <group name="SETTINGS">        
                <param name="enabledSensors">       l_arm_ft_sensor               </param>
                <param name="ftPeriod">             2         		                    </param>
                <param name="temperaturePeriod">    1000      		                   </param>
                <param name="useCalibration">       true      		              </param>           
            </group>       
        
            <group name="CANMONITOR">        
                <param name="checkPeriod">      100     </param>
                <param name="reportMode">       ALL     </param>
                <param name="ratePeriod">       20000 </param>
            </group>             
            
        </group>
    
  </device>