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Commit a7f9421

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author
Daniel M. Lofaro
committed
trying to get the wrists to work make sure to move the wrist form 2ch to 5ch in the code and in the table
1 parent c18f61c commit a7f9421

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4 files changed

+18
-14
lines changed

4 files changed

+18
-14
lines changed

‎hubo-ach-install.sh

+1
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,4 @@
1+
./hubo-ach-safe-clean.sh
12
sudo mkdir /var/log/hubo/
23
sudo mkdir /var/lock/hubo/
34
./configure

‎hubo-ach-safe-clean.sh

+1
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@ sudo rm /etc/hubo-ach/joint.table
1010
sudo rm /etc/hubo-ach/sensor.table
1111
sudo rm /etc/hubo-ach/virtualHubo.py
1212
sudo rm /etc/hubo-ach/hubo-ach-safe-clean.sh
13+
sudo rm -R /etc/hubo-ach
1314
sudo rm $(locate libhuboparams.so | grep /usr)
1415
sudo rm $(locate hubo_ach.pyc | grep /usr)
1516
sudo rm $(locate hubo_ach.pyo | grep /usr)

‎src/hubo-daemon.c

+6-4
Original file line numberDiff line numberDiff line change
@@ -839,15 +839,17 @@ void fSetEncRef(int jnt, hubo_state_t *s, hubo_param_t *h, struct can_frame *f)
839839
f->can_id = 0x01;
840840

841841

842-
unsigned long tempPulse = signConvention((int)getEncRef(jntW, s, h)); // RWY2
843-
unsigned long currentPulse = DrcSignConvention(tempPulse);
842+
//unsigned long tempPulse = signConvention((int)getEncRef(jntW, s, h)); // RWY2
843+
int tempPulse = (int)((double)getEncRef(jntW, s, h)/31.4); // RWY2
844+
//int tempPulse = 0;
845+
unsigned int currentPulse = DrcSignConvention(tempPulse);
844846
f->data[0] = (unsigned char)(currentPulse & 0x000000FF);
845847
f->data[1] = (unsigned char)( (currentPulse>>8) & 0x000000FF );
846848
f->data[2] = (unsigned char)( (currentPulse>>16) & 0x000000FF );
847849

848850
//short short_temp = (short)(Joint[RF2].RefVelCurrent); // gripping, referene current
849851
short short_temp = 0x0000; // gripping, referene current
850-
short short_currentPulse = DrcFingerSignConvention(short_temp, HUBO_FINGER_CURRENT_CTRL_MODE);
852+
unsigned short short_currentPulse = DrcFingerSignConvention(short_temp, HUBO_FINGER_CURRENT_CTRL_MODE);
851853
f->data[3] = (unsigned char)(short_currentPulse & 0x000000FF);
852854

853855
//short_temp = (short)(Joint[RF3].RefVelCurrent); //triggering, reference current
@@ -3012,7 +3014,7 @@ int main(int argc, char **argv) {
30123014
}
30133015
if(strcmp(argv[i], "-drc") == 0){
30143016
hubo_type = HUBO_ROBOT_TYPE_DRC_HUBO;
3015-
printf("DRC Hubo Type \n");
3017+
printf("DRC-Hubo Type \n");
30163018
}
30173019
i++;
30183020
}

‎tables/drc-hubo.joint.table

+10-10
Original file line numberDiff line numberDiff line change
@@ -16,14 +16,14 @@ LSY 0 0 1 1 100 4000 1 JM
1616
LEB 1 0 10 20 100 4000 1 JMC11 1 1 2 0
1717
LWY 0 0 1 1 100 4000 1 EJMC1 1 1 2 0
1818
LWP 1 0 1 2 100 4000 1 EJMC1 1 1 2 0
19-
LWR 2 0 1 1 100 4000 1 EJMC1 0 1 2 0
19+
LWR 0 0 1 2 100 4000 1 EJMC5 1 1 2 0
2020
RSP 0 0 10 25 100 4000 1 JMC8 1 1 2 0
2121
RSR 1 0 1 1 100 4000 1 JMC8 1 1 2 0
2222
RSY 0 0 1 1 100 4000 1 JMC9 1 1 2 0
2323
REB 1 0 10 20 100 4000 1 JMC9 1 1 2 0
2424
RWY 0 0 1 1 100 4000 1 EJMC0 1 1 2 0
2525
RWP 1 0 1 2 100 4000 1 EJMC0 1 1 2 0
26-
RWR 2 0 1 1 100 4000 1 EJMC0 0 1 2 0
26+
RWR 0 0 1 2 100 4000 1 EJMC4 1 1 2 0
2727
LHY 0 0 10 25 100 4000 1 JMC4 1 0 2 0
2828
LHR 1 0 324 1024 160 4000 1 JMC4 1 0 2 0
2929
LHP 0 0 16 20 160 4000 1 JMC5 1 0 1 0
@@ -36,13 +36,13 @@ RHP 0 0 16 20 160 4000 1 JM
3636
RKN 0 0 13 25 160 4000 1 JMC2 1 0 1 0
3737
RAP 0 0 10 25 100 4000 1 JMC3 1 0 2 0
3838
RAR 1 0 324 1024 100 4000 1 JMC3 1 0 2 0
39-
RF1 0 0 1 1 256 128 1 EJMC4 0 1 5 0
40-
RF2 1 0 1 1 256 128 1 EJMC4 0 1 5 0
41-
RF3 2 0 1 1 256 128 1 EJMC4 0 1 5 0
42-
RF4 3 0 1 1 256 128 1 EJMC4 0 1 5 0
39+
RF1 1 0 1 1 256 128 1 EJMC4 1 1 5 0
40+
RF2 2 0 1 1 256 128 1 EJMC4 1 1 5 0
41+
RF3 3 0 1 1 256 128 1 EJMC4 0 1 5 0
42+
RF4 4 0 1 1 256 128 1 EJMC4 0 1 5 0
4343
RF5 4 0 1 1 256 128 1 EJMC4 0 1 5 0
44-
LF1 0 0 1 1 256 128 1 EJMC5 0 1 5 0
45-
LF2 1 0 1 1 256 128 1 EJMC5 0 1 5 0
46-
LF3 2 0 1 1 256 128 1 EJMC5 0 1 5 0
47-
LF4 3 0 1 1 256 128 1 EJMC5 0 1 5 0
44+
LF1 1 0 1 1 256 128 1 EJMC5 1 1 5 0
45+
LF2 2 0 1 1 256 128 1 EJMC5 1 1 5 0
46+
LF3 3 0 1 1 256 128 1 EJMC5 0 1 5 0
47+
LF4 4 0 1 1 256 128 1 EJMC5 0 1 5 0
4848
LF5 4 0 1 1 256 128 1 EJMC5 0 1 5 0

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