[ergoCubSN002] skin updated to manage runtiime remapping

Author: simeonedussoni

ergoCubSN002/ergocub.xml

@@ -8,6 +8,14 @@
   </params>
 
   <devices>
+  
+    <!--  SKINS -->
+
+    <xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
+    <xi:include href="hardware/skin/right_arm-eb3-j2_3-skin.xml" />
+    <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
+    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />
+  
 
     <!-- POS4 -->
     <xi:include href="wrappers/POS/right_hand-pos_wrapper4.xml" disabled_by="disable_right_hand" />

ergoCubSN002/hardware/skin/left_arm-eb4-j2_3-skinSpec.xml

@@ -5,23 +5,12 @@
 
         <group name="defaultCfgBoard">
             <param name="period">        50  </param> 
-            <param name="skinType">      0  </param>     <!-- 0 ==> new skin
+            <param name="skinType">      3  </param>     <!-- 0 ==> new skin
                                                               1 ==> palm and fingertips skin
                                                               2 ==> old skin without temperature compensation -->
             <param name="noLoad">         0xf0  </param>
             <param name="diagnostic">    false  </param>     <!-- used to config high level -->
         </group>
-
-	<group name="specialCfgBoards">           
-	    <!-- it tells some boards to be special. 
-		 we can configure only: tx period, skinType, noLoad value. 
-		 rule #1 -> CAN1:2 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-	      -->
-	    <param name="numOfSets"> 1 </param> 
-	    <!--                            CAN BUS = patch       adr start   adr end     period      type    no_load     -->            
-	    <param name="boardSetCfg1">     2           2          2          50          1       0xe8        </param> 
-		                  
-	</group>
 
 
        <group name="defaultCfgTriangle">
@@ -32,7 +21,7 @@
 
         <group name="specialCfgTriangles">
             <param name="numOfSets">         1  </param>
-            <param name="triangleSetCfg1">     2        2        0         4        1         1        0x0000      </param>
+            <param name="triangleSetCfg1">     2        2        0         8        1         1        0x0000      </param>
             <param name="triangleSetCfg2">     2        2        0         15        1         1        0x0000      </param>
             <param name="triangleSetCfg3">     2        2        8         8         1         1        0x0000      </param>
             <param name="triangleSetCfg4">     2        2        12        12        1         1        0x0000      </param>

ergoCubSN002/hardware/skin/right_arm-eb3-j2_3-skinSpec.xml

@@ -5,25 +5,12 @@
 
         <group name="defaultCfgBoard">
             <param name="period">        50  </param> 
-            <param name="skinType">      0  </param>     <!-- 0 ==> new skin
+            <param name="skinType">      3  </param>     <!-- 0 ==> new skin
                                                               1 ==> palm and fingertips skin
                                                               2 ==> old skin without temperature compensation -->
             <param name="noLoad">         0xf0  </param>
             <param name="diagnostic">    false  </param>     <!-- used to config high level -->
         </group>
-
-	<group name="specialCfgBoards">           
-	    <!-- it tells some boards to be special. 
-		 we can configure only: tx period, skinType, noLoad value. 
-		 rule #1 -> CAN1:14 has: period = 50 ms, skinType = 1 (palm and fingertips skin), noLoad = 0xf0
-	     rule #3  -> the CAN BUS is identified by the patch number!!!!!!!
-        -->
-	    <param name="numOfSets"> 1 </param> 
-	    <!--                            CAN BUS = patch       adr start   adr end     period      type    no_load     -->            
-	    <param name="boardSetCfg1">     2          2          2          50          1       0xe8        </param> 
-		                  
-	</group>
-        
 
        <group name="defaultCfgTriangle">
             <param name="enabled">         false  </param>