BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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added XM-430-W210 / XM-430-W350 device file.

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This commit is contained in:
ROBOTIS-zerom
2016-07-25 11:35:12 +09:00
parent 2791506926
commit e8792df697
4 changed files with 162 additions and 6 deletions
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10
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -870,7 +870,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) BulkRead Rx & update state", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) BulkRead Rx & update state \n", time_duration.nsec * 0.000001);
}
// Call SensorModule Process()
@ -889,7 +889,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) SensorModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SensorModule Process() & save result \n", time_duration.nsec * 0.000001);
}
if (controller_mode_ == MotionModuleMode)
@ -1009,7 +1009,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) MotionModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) MotionModule Process() & save result \n", time_duration.nsec * 0.000001);
}
// SyncWrite
@ -1117,7 +1117,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) SyncWrite & BulkRead Tx", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SyncWrite & BulkRead Tx \n", time_duration.nsec * 0.000001);
}
// publish present & goal position
@ -1144,7 +1144,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
fprintf(stderr, "(%2.6f) Process() DONE", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) Process() DONE \n", time_duration.nsec * 0.000001);
}
is_process_running = false;

78
robotis_device/devices/dynamixel/XM-430-W210.device Normal file
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@ -0,0 +1,78 @@
[device info]
model_name = XM-430-W210
device_type = dynamixel
[type info]
torque_to_current_value_ratio = 235.53647082
velocity_to_value_ratio = 41.707853
value_of_0_radian_position = 2048
value_of_min_radian_position = 0
value_of_max_radian_position = 4095
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name = present_current
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
7 | ID | 1 | RW | EEPROM | 0 | 252 | N
8 | baudrate | 1 | RW | EEPROM | 0 | 7 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 16 | N
20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y
24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N
31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
32 | max_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N
38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N
40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N
44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N
48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
64 | torque_enable | 1 | RW | RAM | 0 | 1 | N
65 | LED | 1 | RW | RAM | 0 | 1 | N
68 | status_return_level | 1 | RW | RAM | 0 | 2 | N
69 | registered_instruction | 1 | R | RAM | 0 | 1 | N
70 | hardware_error_status | 1 | R | RAM | 0 | 255 | N
76 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N
78 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N
80 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N
82 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N
84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N
88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N
102 | goal_current | 2 | RW | RAM | 0 | 1193 | N
104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N
108 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
112 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
116 | goal_position | 4 | RW | RAM | -1048575 | 1048575 | Y
120 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
122 | moving | 1 | R | RAM | 0 | 1 | N
123 | moving_status | 1 | R | RAM | 0 | 255 | N
124 | present_pwm | 2 | R | RAM | 0 | 885 | N
126 | present_current | 2 | R | RAM | 0 | 1193 | N
128 | present_velocity | 4 | R | RAM | 0 | 1023 | N
132 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
136 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
140 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
144 | present_input_voltage | 2 | R | RAM | 95 | 160 | N
146 | present_temperature | 1 | R | RAM | 0 | 100 | N
168 | indirect_address_1 | 2 | RW | RAM | 0 | 65535 | N
224 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
578 | indirect_address_29 | 2 | RW | RAM | 0 | 65535 | N
634 | indirect_data_29 | 1 | RW | RAM | 0 | 255 | N

78
robotis_device/devices/dynamixel/XM-430-W350.device Normal file
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@ -0,0 +1,78 @@
[device info]
model_name = XM-430-W350
device_type = dynamixel
[type info]
torque_to_current_value_ratio = 149.795386991
velocity_to_value_ratio = 41.707853
value_of_0_radian_position = 2048
value_of_min_radian_position = 0
value_of_max_radian_position = 4095
min_radian = -3.14159265
max_radian = 3.14159265
torque_enable_item_name = torque_enable
present_position_item_name = present_position
present_velocity_item_name = present_velocity
present_current_item_name = present_current
goal_position_item_name = goal_position
goal_velocity_item_name = goal_velocity
goal_current_item_name = goal_current
position_d_gain_item_name = position_d_gain
position_i_gain_item_name = position_i_gain
position_p_gain_item_name = position_p_gain
[control table]
# addr | item name | length | access | memory | min value | max value | signed
0 | model_number | 2 | R | EEPROM | 0 | 65535 | N
6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N
7 | ID | 1 | RW | EEPROM | 0 | 252 | N
8 | baudrate | 1 | RW | EEPROM | 0 | 7 | N
9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N
11 | operating_mode | 1 | RW | EEPROM | 0 | 16 | N
20 | homing_offset | 4 | RW | EEPROM | -1044479 | 1044479 | Y
24 | moving_threshold | 4 | RW | EEPROM | 0 | 1023 | N
31 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N
32 | max_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
34 | min_voltage_limit | 2 | RW | EEPROM | 95 | 160 | N
36 | pwm_limit | 2 | RW | EEPROM | 0 | 885 | N
38 | current_limit | 2 | RW | EEPROM | 0 | 1193 | N
40 | acceleration_limit | 4 | RW | EEPROM | 0 | 32767 | N
44 | velocity_limit | 4 | RW | EEPROM | 0 | 1023 | N
48 | max_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
52 | min_position_limit | 4 | RW | EEPROM | 0 | 4095 | N
63 | shutdown | 1 | RW | EEPROM | 0 | 255 | N
64 | torque_enable | 1 | RW | RAM | 0 | 1 | N
65 | LED | 1 | RW | RAM | 0 | 1 | N
68 | status_return_level | 1 | RW | RAM | 0 | 2 | N
69 | registered_instruction | 1 | R | RAM | 0 | 1 | N
70 | hardware_error_status | 1 | R | RAM | 0 | 255 | N
76 | velocity_i_gain | 2 | RW | RAM | 0 | 32767 | N
78 | velocity_p_gain | 2 | RW | RAM | 0 | 32767 | N
80 | position_d_gain | 2 | RW | RAM | 0 | 32767 | N
82 | position_i_gain | 2 | RW | RAM | 0 | 32767 | N
84 | position_p_gain | 2 | RW | RAM | 0 | 32767 | N
88 | feedforward_2nd_gain | 2 | RW | RAM | 0 | 32767 | N
90 | feedforward_1st_gain | 2 | RW | RAM | 0 | 32767 | N
100 | goal_pwm | 2 | RW | RAM | 0 | 885 | N
102 | goal_current | 2 | RW | RAM | 0 | 1193 | N
104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N
108 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
112 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
116 | goal_position | 4 | RW | RAM | -1048575 | 1048575 | Y
120 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
122 | moving | 1 | R | RAM | 0 | 1 | N
123 | moving_status | 1 | R | RAM | 0 | 255 | N
124 | present_pwm | 2 | R | RAM | 0 | 885 | N
126 | present_current | 2 | R | RAM | 0 | 1193 | N
128 | present_velocity | 4 | R | RAM | 0 | 1023 | N
132 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
136 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
140 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
144 | present_input_voltage | 2 | R | RAM | 95 | 160 | N
146 | present_temperature | 1 | R | RAM | 0 | 100 | N
168 | indirect_address_1 | 2 | RW | RAM | 0 | 65535 | N
224 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N
578 | indirect_address_29 | 2 | RW | RAM | 0 | 65535 | N
634 | indirect_data_29 | 1 | RW | RAM | 0 | 255 | N

2
robotis_device/devices/dynamixel/XM-430.device
View File

@ -3,7 +3,7 @@ model_name = XM-430
device_type = dynamixel
[type info]
torque_to_current_value_ratio = 178.842161
torque_to_current_value_ratio = 149.795386991
value_of_0_radian_position = 2048
value_of_min_radian_position = 0