caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-08 18:21:15 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

Browse Source
This commit is contained in:
Corwin Perren
2018-07-21 18:23:05 -07:00
parent c657048ccf d6719e87f9
commit 8c78d5729f
10 changed files with 332416 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

687
electrical/documents/ioni/base.drc Normal file
View File

@@ -0,0 +1,687 @@
[Header]
DRCVersion=110
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
1\addr=6014
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
2\addr=6020
2\scaling=1
2\offset=0
2\readonly=true
2\value=11001
2\min=2
2\max=1
3\name=HWSERIAL
3\addr=6002
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
4\addr=6016
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\min=2
4\max=1
5\name=CEI
5\addr=573
5\scaling=1
5\offset=0
5\readonly=false
5\value=0
5\min=0
5\max=2
6\name=UID
6\addr=6003
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
7\addr=14
7\scaling=1
7\offset=0
7\readonly=false
7\value=0
7\min=0
7\max=16
8\name=TRF1
8\addr=424
8\scaling=1
8\offset=0
8\readonly=false
8\value=0
8\min=0
8\max=101
9\name=TRF2
9\addr=426
9\scaling=1
9\offset=0
9\readonly=false
9\value=0
9\min=0
9\max=101
10\name=TRA1
10\addr=425
10\scaling=1000
10\offset=0
10\readonly=false
10\value=0
10\min=-3.5
10\max=3.5
11\name=TRA2
11\addr=427
11\scaling=10.24
11\offset=0
11\readonly=false
11\value=0
11\min=-50
11\max=50
12\name=MPP
12\addr=571
12\scaling=1
12\offset=0
12\readonly=false
12\value=0
12\min=0
12\max=3000
13\name=NOTCHFILT
13\addr=240
13\scaling=1
13\offset=0
13\readonly=false
13\value=668315
13\min=0
13\max=-1
14\name=TED
14\addr=241
14\scaling=100
14\offset=0
14\readonly=false
14\value=0
14\min=0
14\max=100
15\name=TEF
15\addr=242
15\scaling=100
15\offset=0
15\readonly=false
15\value=0
15\min=0
15\max=100
16\name=TEI
16\addr=243
16\scaling=100
16\offset=0
16\readonly=false
16\value=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
18\addr=482
18\scaling=1
18\offset=0
18\readonly=false
18\value=0
18\min=0
18\max=262143
19\name=HAO
19\addr=575
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\min=-536870912
19\max=536870911
20\name=FBR
20\addr=565
20\scaling=1
20\offset=0
20\readonly=false
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
21\addr=493
21\scaling=1
21\offset=0
21\readonly=false
21\value=5
21\min=0
21\max=-1
22\name=FB2D
22\addr=494
22\scaling=1
22\offset=0
22\readonly=false
22\value=0
22\min=0
22\max=-1
23\name=TBW
23\addr=490
23\scaling=1
23\offset=0
23\readonly=false
23\value=11
23\min=0
23\max=11
24\name=KVP
24\addr=202
24\scaling=1
24\offset=0
24\readonly=false
24\value=800
24\min=0
24\max=300000
25\name=KVI
25\addr=200
25\scaling=1
25\offset=0
25\readonly=false
25\value=300
25\min=0
25\max=300000
26\name=KPP
26\addr=201
26\scaling=1
26\offset=0
26\readonly=false
26\value=100
26\min=0
26\max=300000
27\name=VFF
27\addr=220
27\scaling=1
27\offset=0
27\readonly=false
27\value=0
27\min=0
27\max=300000
28\name=AFF
28\addr=221
28\scaling=1
28\offset=0
28\readonly=false
28\value=0
28\min=0
28\max=300000
29\name=PFF
29\addr=222
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=100
29\min=0
29\max=119.921875
30\name=CM
30\addr=559
30\scaling=1
30\offset=-1
30\readonly=false
30\value=0
30\min=-1
30\max=2
31\name=MT
31\addr=558
31\scaling=1
31\offset=0
31\readonly=false
31\value=3
31\min=0
31\max=7
32\name=AD
32\addr=230
32\scaling=1
32\offset=0
32\readonly=false
32\value=0
32\min=0
32\max=-1
33\name=FLAGS
33\addr=567
33\scaling=1
33\offset=0
33\readonly=false
33\value=131088
33\min=0
33\max=-1
34\name=MMC
34\addr=411
34\scaling=1000
34\offset=0
34\readonly=false
34\value=5
34\min=0.001
34\max=23.478
35\name=MCC
35\addr=410
35\scaling=1000
35\offset=0
35\readonly=false
35\value=2
35\min=0.001
35\max=23.478
36\name=FOC
36\addr=421
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
37\name=FOV
37\addr=569
37\scaling=100
37\offset=0
37\readonly=false
37\value=52
37\min=6
37\max=54
38\name=FUV
38\addr=570
38\scaling=100
38\offset=0
38\readonly=false
38\value=20
38\min=4
38\max=52
39\name=FPT
39\addr=555
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
40\addr=556
40\scaling=1
40\offset=0
40\readonly=false
40\value=1600
40\min=0
40\max=16384
41\name=FEV
41\addr=496
41\scaling=1
41\offset=0
41\readonly=false
41\value=3000
41\min=1
41\max=30000
42\name=FMO
42\addr=568
42\scaling=1
42\offset=0
42\readonly=false
42\value=0
42\min=0
42\max=16384
43\name=LSF
43\addr=498
43\scaling=1
43\offset=0
43\readonly=false
43\value=0
43\min=0
43\max=3
44\name=AXS
44\addr=491
44\scaling=100000
44\offset=0
44\readonly=false
44\value=0.00286
44\min=1e-05
44\max=5368.70911
45\name=AXT
45\addr=492
45\scaling=1
45\offset=0
45\readonly=false
45\value=3
45\min=0
45\max=4
46\name=FFT
46\addr=495
46\scaling=2500
46\offset=0
46\readonly=false
46\value=0.1
46\min=0
46\max=26.214
47\name=TSR
47\addr=5012
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\min=0
47\max=32767
48\name=TCH
48\addr=5020
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\min=0
48\max=-1
49\name=TTR
49\addr=5011
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\min=0
49\max=536870911
50\name=TBT
50\addr=5014
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\min=-1000000
50\max=100
51\name=CRI
51\addr=562
51\scaling=1
51\offset=0
51\readonly=false
51\value=0
51\min=0
51\max=-1
52\name=DIV
52\addr=561
52\scaling=1
52\offset=0
52\readonly=false
52\value=5
52\min=1
52\max=16383
53\name=PIF
53\addr=6055
53\scaling=1
53\offset=0
53\readonly=true
53\value=2500
53\min=2
53\max=1
54\name=MUL
54\addr=560
54\scaling=1
54\offset=0
54\readonly=false
54\value=5
54\min=1
54\max=16383
55\name=CAL
55\addr=800
55\scaling=1
55\offset=0
55\readonly=false
55\value=2
55\min=1
55\max=32767
56\name=CSD
56\addr=801
56\scaling=1
56\offset=0
56\readonly=false
56\value=10
56\min=1
56\max=32767
57\name=CVL
57\addr=802
57\scaling=1
57\offset=0
57\readonly=false
57\value=1910
57\min=1
57\max=32767
58\name=CRV
58\addr=557
58\scaling=1
58\offset=0
58\readonly=false
58\value=100
58\min=0
58\max=32767
59\name=MR
59\addr=405
59\scaling=1000
59\offset=0
59\readonly=false
59\value=0.415
59\min=0.001
59\max=200
60\name=ML
60\addr=406
60\scaling=1000
60\offset=0
60\readonly=false
60\value=0.373
60\min=0.001
60\max=200
61\name=MTC
61\addr=430
61\scaling=1
61\offset=0
61\readonly=false
61\value=500
61\min=30
61\max=7200
62\name=MPC
62\addr=566
62\scaling=0.5
62\offset=0
62\readonly=false
62\value=6
62\min=2
62\max=20000
63\name=MMS
63\addr=572
63\scaling=1
63\offset=0
63\readonly=false
63\value=3500
63\min=1
63\max=65000
64\name=CAO
64\addr=563
64\scaling=163.84
64\offset=0
64\readonly=false
64\value=0
64\min=-50
64\max=49.993896484375
65\name=HOMING
65\addr=806
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\min=0
65\max=-1
66\name=HMV
66\addr=804
66\scaling=1
66\offset=0
66\readonly=false
66\value=100
66\min=1
66\max=32767
67\name=HMA
67\addr=803
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\min=1
67\max=32767
68\name=HMH
68\addr=808
68\scaling=1
68\offset=0
68\readonly=false
68\value=0
68\min=0
68\max=300000
69\name=HMT
69\addr=415
69\scaling=1000
69\offset=0
69\readonly=false
69\value=1
69\min=0.001
69\max=23.478
70\name=HHL
70\addr=835
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\min=-536870912
70\max=536870911
71\name=HLL
71\addr=836
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\min=-536870912
71\max=536870911
72\name=HMF
72\addr=823
72\scaling=1
72\offset=0
72\readonly=false
72\value=0
72\min=-536870912
72\max=536870911
73\name=HSA
73\addr=807
73\scaling=1
73\offset=0
73\readonly=false
73\value=0
73\min=-536870912
73\max=536870911
74\name=HSS
74\addr=100
74\scaling=1
74\offset=0
74\readonly=false
74\value=0
74\min=0
74\max=31
75\name=overrideAddr1
75\addr=8120
75\scaling=1
75\offset=0
75\readonly=false
75\value=0
75\min=0
75\max=16384
76\name=overrideAddr2
76\addr=8121
76\scaling=1
76\offset=0
76\readonly=false
76\value=0
76\min=0
76\max=16384
77\name=overrideAddr3
77\addr=8122
77\scaling=1
77\offset=0
77\readonly=false
77\value=0
77\min=0
77\max=16384
78\name=overrideVal1
78\addr=8125
78\scaling=1
78\offset=0
78\readonly=false
78\value=0
78\min=-536870912
78\max=536870911
79\name=overrideVal2
79\addr=8126
79\scaling=1
79\offset=0
79\readonly=false
79\value=0
79\min=-536870912
79\max=536870911
80\name=overrideVal3
80\addr=8127
80\scaling=1
80\offset=0
80\readonly=false
80\value=0
80\min=-536870912
80\max=536870911
81\name=BED
81\addr=911
81\scaling=1000
81\offset=0
81\readonly=false
81\value=0
81\min=0
81\max=10
82\name=BER
82\addr=910
82\scaling=1000
82\offset=0
82\readonly=false
82\value=1
82\min=0
82\max=10
83\name=BDD
83\addr=912
83\scaling=1
83\offset=0
83\readonly=false
83\value=1
83\min=1
83\max=64
84\name=CAPS1
84\addr=6006
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\min=0
84\max=0
85\name=CAPS2
85\addr=6007
85\scaling=1
85\offset=0
85\readonly=true
85\value=16287
85\min=0
85\max=0
size=85

687
electrical/documents/ioni/elbow.drc Normal file
View File

@@ -0,0 +1,687 @@
[Header]
DRCVersion=110
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
1\addr=6014
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
2\addr=6020
2\scaling=1
2\offset=0
2\readonly=true
2\value=11001
2\min=2
2\max=1
3\name=HWSERIAL
3\addr=6002
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
4\addr=6016
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\min=2
4\max=1
5\name=CEI
5\addr=573
5\scaling=1
5\offset=0
5\readonly=false
5\value=0
5\min=0
5\max=2
6\name=UID
6\addr=6003
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
7\addr=14
7\scaling=1
7\offset=0
7\readonly=false
7\value=2
7\min=0
7\max=16
8\name=TRF1
8\addr=424
8\scaling=1
8\offset=0
8\readonly=false
8\value=0
8\min=0
8\max=101
9\name=TRF2
9\addr=426
9\scaling=1
9\offset=0
9\readonly=false
9\value=0
9\min=0
9\max=101
10\name=TRA1
10\addr=425
10\scaling=1000
10\offset=0
10\readonly=false
10\value=0
10\min=-3.5
10\max=3.5
11\name=TRA2
11\addr=427
11\scaling=10.24
11\offset=0
11\readonly=false
11\value=0
11\min=-50
11\max=50
12\name=MPP
12\addr=571
12\scaling=1
12\offset=0
12\readonly=false
12\value=0
12\min=0
12\max=3000
13\name=NOTCHFILT
13\addr=240
13\scaling=1
13\offset=0
13\readonly=false
13\value=668315
13\min=0
13\max=-1
14\name=TED
14\addr=241
14\scaling=100
14\offset=0
14\readonly=false
14\value=0
14\min=0
14\max=100
15\name=TEF
15\addr=242
15\scaling=100
15\offset=0
15\readonly=false
15\value=0
15\min=0
15\max=100
16\name=TEI
16\addr=243
16\scaling=100
16\offset=0
16\readonly=false
16\value=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
18\addr=482
18\scaling=1
18\offset=0
18\readonly=false
18\value=0
18\min=0
18\max=262143
19\name=HAO
19\addr=575
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\min=-536870912
19\max=536870911
20\name=FBR
20\addr=565
20\scaling=1
20\offset=0
20\readonly=false
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
21\addr=493
21\scaling=1
21\offset=0
21\readonly=false
21\value=5
21\min=0
21\max=-1
22\name=FB2D
22\addr=494
22\scaling=1
22\offset=0
22\readonly=false
22\value=0
22\min=0
22\max=-1
23\name=TBW
23\addr=490
23\scaling=1
23\offset=0
23\readonly=false
23\value=11
23\min=0
23\max=11
24\name=KVP
24\addr=202
24\scaling=1
24\offset=0
24\readonly=false
24\value=1000
24\min=0
24\max=300000
25\name=KVI
25\addr=200
25\scaling=1
25\offset=0
25\readonly=false
25\value=150
25\min=0
25\max=300000
26\name=KPP
26\addr=201
26\scaling=1
26\offset=0
26\readonly=false
26\value=50
26\min=0
26\max=300000
27\name=VFF
27\addr=220
27\scaling=1
27\offset=0
27\readonly=false
27\value=0
27\min=0
27\max=300000
28\name=AFF
28\addr=221
28\scaling=1
28\offset=0
28\readonly=false
28\value=0
28\min=0
28\max=300000
29\name=PFF
29\addr=222
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=100
29\min=0
29\max=119.921875
30\name=CM
30\addr=559
30\scaling=1
30\offset=-1
30\readonly=false
30\value=0
30\min=-1
30\max=2
31\name=MT
31\addr=558
31\scaling=1
31\offset=0
31\readonly=false
31\value=3
31\min=0
31\max=7
32\name=AD
32\addr=230
32\scaling=1
32\offset=0
32\readonly=false
32\value=0
32\min=0
32\max=-1
33\name=FLAGS
33\addr=567
33\scaling=1
33\offset=0
33\readonly=false
33\value=131088
33\min=0
33\max=-1
34\name=MMC
34\addr=411
34\scaling=1000
34\offset=0
34\readonly=false
34\value=5
34\min=0.001
34\max=23.478
35\name=MCC
35\addr=410
35\scaling=1000
35\offset=0
35\readonly=false
35\value=5
35\min=0.001
35\max=23.478
36\name=FOC
36\addr=421
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
37\name=FOV
37\addr=569
37\scaling=100
37\offset=0
37\readonly=false
37\value=52
37\min=6
37\max=54
38\name=FUV
38\addr=570
38\scaling=100
38\offset=0
38\readonly=false
38\value=20
38\min=4
38\max=52
39\name=FPT
39\addr=555
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
40\addr=556
40\scaling=1
40\offset=0
40\readonly=false
40\value=3200
40\min=0
40\max=16384
41\name=FEV
41\addr=496
41\scaling=1
41\offset=0
41\readonly=false
41\value=3000
41\min=1
41\max=30000
42\name=FMO
42\addr=568
42\scaling=1
42\offset=0
42\readonly=false
42\value=0
42\min=0
42\max=16384
43\name=LSF
43\addr=498
43\scaling=1
43\offset=0
43\readonly=false
43\value=0
43\min=0
43\max=3
44\name=AXS
44\addr=491
44\scaling=100000
44\offset=0
44\readonly=false
44\value=0.00333
44\min=1e-05
44\max=5368.70911
45\name=AXT
45\addr=492
45\scaling=1
45\offset=0
45\readonly=false
45\value=3
45\min=0
45\max=4
46\name=FFT
46\addr=495
46\scaling=2500
46\offset=0
46\readonly=false
46\value=0.1
46\min=0
46\max=26.214
47\name=TSR
47\addr=5012
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\min=0
47\max=32767
48\name=TCH
48\addr=5020
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\min=0
48\max=-1
49\name=TTR
49\addr=5011
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\min=0
49\max=536870911
50\name=TBT
50\addr=5014
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\min=-1000000
50\max=100
51\name=CRI
51\addr=562
51\scaling=1
51\offset=0
51\readonly=false
51\value=0
51\min=0
51\max=-1
52\name=DIV
52\addr=561
52\scaling=1
52\offset=0
52\readonly=false
52\value=5
52\min=1
52\max=16383
53\name=PIF
53\addr=6055
53\scaling=1
53\offset=0
53\readonly=true
53\value=2500
53\min=2
53\max=1
54\name=MUL
54\addr=560
54\scaling=1
54\offset=0
54\readonly=false
54\value=5
54\min=1
54\max=16383
55\name=CAL
55\addr=800
55\scaling=1
55\offset=0
55\readonly=false
55\value=2
55\min=1
55\max=32767
56\name=CSD
56\addr=801
56\scaling=1
56\offset=0
56\readonly=false
56\value=10
56\min=1
56\max=32767
57\name=CVL
57\addr=802
57\scaling=1
57\offset=0
57\readonly=false
57\value=1630
57\min=1
57\max=32767
58\name=CRV
58\addr=557
58\scaling=1
58\offset=0
58\readonly=false
58\value=100
58\min=0
58\max=32767
59\name=MR
59\addr=405
59\scaling=1000
59\offset=0
59\readonly=false
59\value=0.415
59\min=0.001
59\max=200
60\name=ML
60\addr=406
60\scaling=1000
60\offset=0
60\readonly=false
60\value=0.373
60\min=0.001
60\max=200
61\name=MTC
61\addr=430
61\scaling=1
61\offset=0
61\readonly=false
61\value=500
61\min=30
61\max=7200
62\name=MPC
62\addr=566
62\scaling=0.5
62\offset=0
62\readonly=false
62\value=8
62\min=2
62\max=20000
63\name=MMS
63\addr=572
63\scaling=1
63\offset=0
63\readonly=false
63\value=3000
63\min=1
63\max=65000
64\name=CAO
64\addr=563
64\scaling=163.84
64\offset=0
64\readonly=false
64\value=0
64\min=-50
64\max=49.993896484375
65\name=HOMING
65\addr=806
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\min=0
65\max=-1
66\name=HMV
66\addr=804
66\scaling=1
66\offset=0
66\readonly=false
66\value=100
66\min=1
66\max=32767
67\name=HMA
67\addr=803
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\min=1
67\max=32767
68\name=HMH
68\addr=808
68\scaling=1
68\offset=0
68\readonly=false
68\value=0
68\min=0
68\max=300000
69\name=HMT
69\addr=415
69\scaling=1000
69\offset=0
69\readonly=false
69\value=1
69\min=0.001
69\max=23.478
70\name=HHL
70\addr=835
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\min=-536870912
70\max=536870911
71\name=HLL
71\addr=836
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\min=-536870912
71\max=536870911
72\name=HMF
72\addr=823
72\scaling=1
72\offset=0
72\readonly=false
72\value=0
72\min=-536870912
72\max=536870911
73\name=HSA
73\addr=807
73\scaling=1
73\offset=0
73\readonly=false
73\value=0
73\min=-536870912
73\max=536870911
74\name=HSS
74\addr=100
74\scaling=1
74\offset=0
74\readonly=false
74\value=0
74\min=0
74\max=31
75\name=overrideAddr1
75\addr=8120
75\scaling=1
75\offset=0
75\readonly=false
75\value=0
75\min=0
75\max=16384
76\name=overrideAddr2
76\addr=8121
76\scaling=1
76\offset=0
76\readonly=false
76\value=0
76\min=0
76\max=16384
77\name=overrideAddr3
77\addr=8122
77\scaling=1
77\offset=0
77\readonly=false
77\value=0
77\min=0
77\max=16384
78\name=overrideVal1
78\addr=8125
78\scaling=1
78\offset=0
78\readonly=false
78\value=0
78\min=-536870912
78\max=536870911
79\name=overrideVal2
79\addr=8126
79\scaling=1
79\offset=0
79\readonly=false
79\value=0
79\min=-536870912
79\max=536870911
80\name=overrideVal3
80\addr=8127
80\scaling=1
80\offset=0
80\readonly=false
80\value=0
80\min=-536870912
80\max=536870911
81\name=BED
81\addr=911
81\scaling=1000
81\offset=0
81\readonly=false
81\value=0
81\min=0
81\max=10
82\name=BER
82\addr=910
82\scaling=1000
82\offset=0
82\readonly=false
82\value=1
82\min=0
82\max=10
83\name=BDD
83\addr=912
83\scaling=1
83\offset=0
83\readonly=false
83\value=1
83\min=1
83\max=64
84\name=CAPS1
84\addr=6006
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\min=0
84\max=0
85\name=CAPS2
85\addr=6007
85\scaling=1
85\offset=0
85\readonly=true
85\value=16287
85\min=0
85\max=0
size=85

687
electrical/documents/ioni/roll.drc Normal file
View File

@@ -0,0 +1,687 @@
[Header]
DRCVersion=110
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
1\addr=6014
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
2\addr=6020
2\scaling=1
2\offset=0
2\readonly=true
2\value=11001
2\min=2
2\max=1
3\name=HWSERIAL
3\addr=6002
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
4\addr=6016
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\min=2
4\max=1
5\name=CEI
5\addr=573
5\scaling=1
5\offset=0
5\readonly=false
5\value=0
5\min=0
5\max=2
6\name=UID
6\addr=6003
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
7\addr=14
7\scaling=1
7\offset=0
7\readonly=false
7\value=3
7\min=0
7\max=16
8\name=TRF1
8\addr=424
8\scaling=1
8\offset=0
8\readonly=false
8\value=0
8\min=0
8\max=101
9\name=TRF2
9\addr=426
9\scaling=1
9\offset=0
9\readonly=false
9\value=0
9\min=0
9\max=101
10\name=TRA1
10\addr=425
10\scaling=1000
10\offset=0
10\readonly=false
10\value=0
10\min=-3.5
10\max=3.5
11\name=TRA2
11\addr=427
11\scaling=10.24
11\offset=0
11\readonly=false
11\value=0
11\min=-50
11\max=50
12\name=MPP
12\addr=571
12\scaling=1
12\offset=0
12\readonly=false
12\value=0
12\min=0
12\max=3000
13\name=NOTCHFILT
13\addr=240
13\scaling=1
13\offset=0
13\readonly=false
13\value=668315
13\min=0
13\max=-1
14\name=TED
14\addr=241
14\scaling=100
14\offset=0
14\readonly=false
14\value=0
14\min=0
14\max=100
15\name=TEF
15\addr=242
15\scaling=100
15\offset=0
15\readonly=false
15\value=0
15\min=0
15\max=100
16\name=TEI
16\addr=243
16\scaling=100
16\offset=0
16\readonly=false
16\value=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
18\addr=482
18\scaling=1
18\offset=0
18\readonly=false
18\value=0
18\min=0
18\max=262143
19\name=HAO
19\addr=575
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\min=-536870912
19\max=536870911
20\name=FBR
20\addr=565
20\scaling=1
20\offset=0
20\readonly=false
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
21\addr=493
21\scaling=1
21\offset=0
21\readonly=false
21\value=5
21\min=0
21\max=-1
22\name=FB2D
22\addr=494
22\scaling=1
22\offset=0
22\readonly=false
22\value=0
22\min=0
22\max=-1
23\name=TBW
23\addr=490
23\scaling=1
23\offset=0
23\readonly=false
23\value=11
23\min=0
23\max=11
24\name=KVP
24\addr=202
24\scaling=1
24\offset=0
24\readonly=false
24\value=1100
24\min=0
24\max=300000
25\name=KVI
25\addr=200
25\scaling=1
25\offset=0
25\readonly=false
25\value=800
25\min=0
25\max=300000
26\name=KPP
26\addr=201
26\scaling=1
26\offset=0
26\readonly=false
26\value=1600
26\min=0
26\max=300000
27\name=VFF
27\addr=220
27\scaling=1
27\offset=0
27\readonly=false
27\value=0
27\min=0
27\max=300000
28\name=AFF
28\addr=221
28\scaling=1
28\offset=0
28\readonly=false
28\value=0
28\min=0
28\max=300000
29\name=PFF
29\addr=222
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=100
29\min=0
29\max=119.921875
30\name=CM
30\addr=559
30\scaling=1
30\offset=-1
30\readonly=false
30\value=0
30\min=-1
30\max=2
31\name=MT
31\addr=558
31\scaling=1
31\offset=0
31\readonly=false
31\value=3
31\min=0
31\max=7
32\name=AD
32\addr=230
32\scaling=1
32\offset=0
32\readonly=false
32\value=0
32\min=0
32\max=-1
33\name=FLAGS
33\addr=567
33\scaling=1
33\offset=0
33\readonly=false
33\value=131088
33\min=0
33\max=-1
34\name=MMC
34\addr=411
34\scaling=1000
34\offset=0
34\readonly=false
34\value=5
34\min=0.001
34\max=23.478
35\name=MCC
35\addr=410
35\scaling=1000
35\offset=0
35\readonly=false
35\value=5
35\min=0.001
35\max=23.478
36\name=FOC
36\addr=421
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
37\name=FOV
37\addr=569
37\scaling=100
37\offset=0
37\readonly=false
37\value=52
37\min=6
37\max=54
38\name=FUV
38\addr=570
38\scaling=100
38\offset=0
38\readonly=false
38\value=20
38\min=4
38\max=52
39\name=FPT
39\addr=555
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
40\addr=556
40\scaling=1
40\offset=0
40\readonly=false
40\value=3200
40\min=0
40\max=16384
41\name=FEV
41\addr=496
41\scaling=1
41\offset=0
41\readonly=false
41\value=3000
41\min=1
41\max=30000
42\name=FMO
42\addr=568
42\scaling=1
42\offset=0
42\readonly=false
42\value=0
42\min=0
42\max=16384
43\name=LSF
43\addr=498
43\scaling=1
43\offset=0
43\readonly=false
43\value=0
43\min=0
43\max=3
44\name=AXS
44\addr=491
44\scaling=100000
44\offset=0
44\readonly=false
44\value=0.01
44\min=1e-05
44\max=5368.70911
45\name=AXT
45\addr=492
45\scaling=1
45\offset=0
45\readonly=false
45\value=3
45\min=0
45\max=4
46\name=FFT
46\addr=495
46\scaling=2500
46\offset=0
46\readonly=false
46\value=0.1
46\min=0
46\max=26.214
47\name=TSR
47\addr=5012
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\min=0
47\max=32767
48\name=TCH
48\addr=5020
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\min=0
48\max=-1
49\name=TTR
49\addr=5011
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\min=0
49\max=536870911
50\name=TBT
50\addr=5014
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\min=-1000000
50\max=100
51\name=CRI
51\addr=562
51\scaling=1
51\offset=0
51\readonly=false
51\value=0
51\min=0
51\max=-1
52\name=DIV
52\addr=561
52\scaling=1
52\offset=0
52\readonly=false
52\value=5
52\min=1
52\max=16383
53\name=PIF
53\addr=6055
53\scaling=1
53\offset=0
53\readonly=true
53\value=2500
53\min=2
53\max=1
54\name=MUL
54\addr=560
54\scaling=1
54\offset=0
54\readonly=false
54\value=5
54\min=1
54\max=16383
55\name=CAL
55\addr=800
55\scaling=1
55\offset=0
55\readonly=false
55\value=20
55\min=1
55\max=32767
56\name=CSD
56\addr=801
56\scaling=1
56\offset=0
56\readonly=false
56\value=10
56\min=1
56\max=32767
57\name=CVL
57\addr=802
57\scaling=1
57\offset=0
57\readonly=false
57\value=436
57\min=1
57\max=32767
58\name=CRV
58\addr=557
58\scaling=1
58\offset=0
58\readonly=false
58\value=100
58\min=0
58\max=32767
59\name=MR
59\addr=405
59\scaling=1000
59\offset=0
59\readonly=false
59\value=3.855
59\min=0.001
59\max=200
60\name=ML
60\addr=406
60\scaling=1000
60\offset=0
60\readonly=false
60\value=2.079
60\min=0.001
60\max=200
61\name=MTC
61\addr=430
61\scaling=1
61\offset=0
61\readonly=false
61\value=500
61\min=30
61\max=7200
62\name=MPC
62\addr=566
62\scaling=0.5
62\offset=0
62\readonly=false
62\value=8
62\min=2
62\max=20000
63\name=MMS
63\addr=572
63\scaling=1
63\offset=0
63\readonly=false
63\value=1000
63\min=1
63\max=65000
64\name=CAO
64\addr=563
64\scaling=163.84
64\offset=0
64\readonly=false
64\value=0
64\min=-50
64\max=49.993896484375
65\name=HOMING
65\addr=806
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\min=0
65\max=-1
66\name=HMV
66\addr=804
66\scaling=1
66\offset=0
66\readonly=false
66\value=100
66\min=1
66\max=32767
67\name=HMA
67\addr=803
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\min=1
67\max=32767
68\name=HMH
68\addr=808
68\scaling=1
68\offset=0
68\readonly=false
68\value=0
68\min=0
68\max=300000
69\name=HMT
69\addr=415
69\scaling=1000
69\offset=0
69\readonly=false
69\value=1
69\min=0.001
69\max=23.478
70\name=HHL
70\addr=835
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\min=-536870912
70\max=536870911
71\name=HLL
71\addr=836
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\min=-536870912
71\max=536870911
72\name=HMF
72\addr=823
72\scaling=1
72\offset=0
72\readonly=false
72\value=0
72\min=-536870912
72\max=536870911
73\name=HSA
73\addr=807
73\scaling=1
73\offset=0
73\readonly=false
73\value=0
73\min=-536870912
73\max=536870911
74\name=HSS
74\addr=100
74\scaling=1
74\offset=0
74\readonly=false
74\value=0
74\min=0
74\max=31
75\name=overrideAddr1
75\addr=8120
75\scaling=1
75\offset=0
75\readonly=false
75\value=0
75\min=0
75\max=16384
76\name=overrideAddr2
76\addr=8121
76\scaling=1
76\offset=0
76\readonly=false
76\value=0
76\min=0
76\max=16384
77\name=overrideAddr3
77\addr=8122
77\scaling=1
77\offset=0
77\readonly=false
77\value=0
77\min=0
77\max=16384
78\name=overrideVal1
78\addr=8125
78\scaling=1
78\offset=0
78\readonly=false
78\value=0
78\min=-536870912
78\max=536870911
79\name=overrideVal2
79\addr=8126
79\scaling=1
79\offset=0
79\readonly=false
79\value=0
79\min=-536870912
79\max=536870911
80\name=overrideVal3
80\addr=8127
80\scaling=1
80\offset=0
80\readonly=false
80\value=0
80\min=-536870912
80\max=536870911
81\name=BED
81\addr=911
81\scaling=1000
81\offset=0
81\readonly=false
81\value=0
81\min=0
81\max=10
82\name=BER
82\addr=910
82\scaling=1000
82\offset=0
82\readonly=false
82\value=1
82\min=0
82\max=10
83\name=BDD
83\addr=912
83\scaling=1
83\offset=0
83\readonly=false
83\value=1
83\min=1
83\max=64
84\name=CAPS1
84\addr=6006
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\min=0
84\max=0
85\name=CAPS2
85\addr=6007
85\scaling=1
85\offset=0
85\readonly=true
85\value=16287
85\min=0
85\max=0
size=85

687
electrical/documents/ioni/shoulder.drc Normal file
View File

@@ -0,0 +1,687 @@
[Header]
DRCVersion=110
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
1\addr=6014
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
2\addr=6020
2\scaling=1
2\offset=0
2\readonly=true
2\value=11001
2\min=2
2\max=1
3\name=HWSERIAL
3\addr=6002
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
4\addr=6016
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\min=2
4\max=1
5\name=CEI
5\addr=573
5\scaling=1
5\offset=0
5\readonly=false
5\value=0
5\min=0
5\max=2
6\name=UID
6\addr=6003
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
7\addr=14
7\scaling=1
7\offset=0
7\readonly=false
7\value=1
7\min=0
7\max=16
8\name=TRF1
8\addr=424
8\scaling=1
8\offset=0
8\readonly=false
8\value=0
8\min=0
8\max=101
9\name=TRF2
9\addr=426
9\scaling=1
9\offset=0
9\readonly=false
9\value=0
9\min=0
9\max=101
10\name=TRA1
10\addr=425
10\scaling=1000
10\offset=0
10\readonly=false
10\value=0
10\min=-3.5
10\max=3.5
11\name=TRA2
11\addr=427
11\scaling=10.24
11\offset=0
11\readonly=false
11\value=0
11\min=-50
11\max=50
12\name=MPP
12\addr=571
12\scaling=1
12\offset=0
12\readonly=false
12\value=0
12\min=0
12\max=3000
13\name=NOTCHFILT
13\addr=240
13\scaling=1
13\offset=0
13\readonly=false
13\value=668315
13\min=0
13\max=-1
14\name=TED
14\addr=241
14\scaling=100
14\offset=0
14\readonly=false
14\value=0
14\min=0
14\max=100
15\name=TEF
15\addr=242
15\scaling=100
15\offset=0
15\readonly=false
15\value=0
15\min=0
15\max=100
16\name=TEI
16\addr=243
16\scaling=100
16\offset=0
16\readonly=false
16\value=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
18\addr=482
18\scaling=1
18\offset=0
18\readonly=false
18\value=0
18\min=0
18\max=262143
19\name=HAO
19\addr=575
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\min=-536870912
19\max=536870911
20\name=FBR
20\addr=565
20\scaling=1
20\offset=0
20\readonly=false
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
21\addr=493
21\scaling=1
21\offset=0
21\readonly=false
21\value=5
21\min=0
21\max=-1
22\name=FB2D
22\addr=494
22\scaling=1
22\offset=0
22\readonly=false
22\value=0
22\min=0
22\max=-1
23\name=TBW
23\addr=490
23\scaling=1
23\offset=0
23\readonly=false
23\value=11
23\min=0
23\max=11
24\name=KVP
24\addr=202
24\scaling=1
24\offset=0
24\readonly=false
24\value=4000
24\min=0
24\max=300000
25\name=KVI
25\addr=200
25\scaling=1
25\offset=0
25\readonly=false
25\value=4000
25\min=0
25\max=300000
26\name=KPP
26\addr=201
26\scaling=1
26\offset=0
26\readonly=false
26\value=150
26\min=0
26\max=300000
27\name=VFF
27\addr=220
27\scaling=1
27\offset=0
27\readonly=false
27\value=0
27\min=0
27\max=300000
28\name=AFF
28\addr=221
28\scaling=1
28\offset=0
28\readonly=false
28\value=0
28\min=0
28\max=300000
29\name=PFF
29\addr=222
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=100
29\min=0
29\max=119.921875
30\name=CM
30\addr=559
30\scaling=1
30\offset=-1
30\readonly=false
30\value=0
30\min=-1
30\max=2
31\name=MT
31\addr=558
31\scaling=1
31\offset=0
31\readonly=false
31\value=3
31\min=0
31\max=7
32\name=AD
32\addr=230
32\scaling=1
32\offset=0
32\readonly=false
32\value=0
32\min=0
32\max=-1
33\name=FLAGS
33\addr=567
33\scaling=1
33\offset=0
33\readonly=false
33\value=131088
33\min=0
33\max=-1
34\name=MMC
34\addr=411
34\scaling=1000
34\offset=0
34\readonly=false
34\value=5
34\min=0.001
34\max=23.478
35\name=MCC
35\addr=410
35\scaling=1000
35\offset=0
35\readonly=false
35\value=5
35\min=0.001
35\max=23.478
36\name=FOC
36\addr=421
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=3
36\min=0
36\max=6
37\name=FOV
37\addr=569
37\scaling=100
37\offset=0
37\readonly=false
37\value=52
37\min=6
37\max=54
38\name=FUV
38\addr=570
38\scaling=100
38\offset=0
38\readonly=false
38\value=20
38\min=4
38\max=52
39\name=FPT
39\addr=555
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
40\addr=556
40\scaling=1
40\offset=0
40\readonly=false
40\value=1600
40\min=0
40\max=16384
41\name=FEV
41\addr=496
41\scaling=1
41\offset=0
41\readonly=false
41\value=3000
41\min=1
41\max=30000
42\name=FMO
42\addr=568
42\scaling=1
42\offset=0
42\readonly=false
42\value=0
42\min=0
42\max=16384
43\name=LSF
43\addr=498
43\scaling=1
43\offset=0
43\readonly=false
43\value=0
43\min=0
43\max=3
44\name=AXS
44\addr=491
44\scaling=100000
44\offset=0
44\readonly=false
44\value=0.00625
44\min=1e-05
44\max=5368.70911
45\name=AXT
45\addr=492
45\scaling=1
45\offset=0
45\readonly=false
45\value=3
45\min=0
45\max=4
46\name=FFT
46\addr=495
46\scaling=2500
46\offset=0
46\readonly=false
46\value=0.1
46\min=0
46\max=26.214
47\name=TSR
47\addr=5012
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\min=0
47\max=32767
48\name=TCH
48\addr=5020
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\min=0
48\max=-1
49\name=TTR
49\addr=5011
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\min=0
49\max=536870911
50\name=TBT
50\addr=5014
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\min=-1000000
50\max=100
51\name=CRI
51\addr=562
51\scaling=1
51\offset=0
51\readonly=false
51\value=0
51\min=0
51\max=-1
52\name=DIV
52\addr=561
52\scaling=1
52\offset=0
52\readonly=false
52\value=5
52\min=1
52\max=16383
53\name=PIF
53\addr=6055
53\scaling=1
53\offset=0
53\readonly=true
53\value=2500
53\min=2
53\max=1
54\name=MUL
54\addr=560
54\scaling=1
54\offset=0
54\readonly=false
54\value=5
54\min=1
54\max=16383
55\name=CAL
55\addr=800
55\scaling=1
55\offset=0
55\readonly=false
55\value=2
55\min=1
55\max=32767
56\name=CSD
56\addr=801
56\scaling=1
56\offset=0
56\readonly=false
56\value=10
56\min=1
56\max=32767
57\name=CVL
57\addr=802
57\scaling=1
57\offset=0
57\readonly=false
57\value=870
57\min=1
57\max=32767
58\name=CRV
58\addr=557
58\scaling=1
58\offset=0
58\readonly=false
58\value=100
58\min=0
58\max=32767
59\name=MR
59\addr=405
59\scaling=1000
59\offset=0
59\readonly=false
59\value=0.415
59\min=0.001
59\max=200
60\name=ML
60\addr=406
60\scaling=1000
60\offset=0
60\readonly=false
60\value=0.373
60\min=0.001
60\max=200
61\name=MTC
61\addr=430
61\scaling=1
61\offset=0
61\readonly=false
61\value=500
61\min=30
61\max=7200
62\name=MPC
62\addr=566
62\scaling=0.5
62\offset=0
62\readonly=false
62\value=12
62\min=2
62\max=20000
63\name=MMS
63\addr=572
63\scaling=1
63\offset=0
63\readonly=false
63\value=1600
63\min=1
63\max=65000
64\name=CAO
64\addr=563
64\scaling=163.84
64\offset=0
64\readonly=false
64\value=0
64\min=-50
64\max=49.993896484375
65\name=HOMING
65\addr=806
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\min=0
65\max=-1
66\name=HMV
66\addr=804
66\scaling=1
66\offset=0
66\readonly=false
66\value=100
66\min=1
66\max=32767
67\name=HMA
67\addr=803
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\min=1
67\max=32767
68\name=HMH
68\addr=808
68\scaling=1
68\offset=0
68\readonly=false
68\value=0
68\min=0
68\max=300000
69\name=HMT
69\addr=415
69\scaling=1000
69\offset=0
69\readonly=false
69\value=1
69\min=0.001
69\max=23.478
70\name=HHL
70\addr=835
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\min=-536870912
70\max=536870911
71\name=HLL
71\addr=836
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\min=-536870912
71\max=536870911
72\name=HMF
72\addr=823
72\scaling=1
72\offset=0
72\readonly=false
72\value=0
72\min=-536870912
72\max=536870911
73\name=HSA
73\addr=807
73\scaling=1
73\offset=0
73\readonly=false
73\value=0
73\min=-536870912
73\max=536870911
74\name=HSS
74\addr=100
74\scaling=1
74\offset=0
74\readonly=false
74\value=0
74\min=0
74\max=31
75\name=overrideAddr1
75\addr=8120
75\scaling=1
75\offset=0
75\readonly=false
75\value=0
75\min=0
75\max=16384
76\name=overrideAddr2
76\addr=8121
76\scaling=1
76\offset=0
76\readonly=false
76\value=0
76\min=0
76\max=16384
77\name=overrideAddr3
77\addr=8122
77\scaling=1
77\offset=0
77\readonly=false
77\value=0
77\min=0
77\max=16384
78\name=overrideVal1
78\addr=8125
78\scaling=1
78\offset=0
78\readonly=false
78\value=0
78\min=-536870912
78\max=536870911
79\name=overrideVal2
79\addr=8126
79\scaling=1
79\offset=0
79\readonly=false
79\value=0
79\min=-536870912
79\max=536870911
80\name=overrideVal3
80\addr=8127
80\scaling=1
80\offset=0
80\readonly=false
80\value=0
80\min=-536870912
80\max=536870911
81\name=BED
81\addr=911
81\scaling=1000
81\offset=0
81\readonly=false
81\value=0
81\min=0
81\max=10
82\name=BER
82\addr=910
82\scaling=1000
82\offset=0
82\readonly=false
82\value=1
82\min=0
82\max=10
83\name=BDD
83\addr=912
83\scaling=1
83\offset=0
83\readonly=false
83\value=1
83\min=1
83\max=64
84\name=CAPS1
84\addr=6006
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\min=0
84\max=0
85\name=CAPS2
85\addr=6007
85\scaling=1
85\offset=0
85\readonly=true
85\value=16287
85\min=0
85\max=0
size=85

64
electrical/documents/ioni_test_tuning_setup.drc → electrical/documents/ioni/wrist_pitch.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1
1\offset=0
1\readonly=true
1\value=10690
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028686
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1
4\offset=0
4\readonly=true
4\value=15540439
4\value=163070257
4\min=2
4\max=1
5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1
6\offset=0
6\readonly=true
6\value=-29713247
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
@@ -57,7 +57,7 @@ GranityVersionInt=11400
7\scaling=1
7\offset=0
7\readonly=false
7\value=0
7\value=4
7\min=0
7\max=16
8\name=TRF1
@@ -130,14 +130,14 @@ GranityVersionInt=11400
16\offset=0
16\readonly=false
16\value=0
16\min=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4108
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
@@ -161,7 +161,7 @@ GranityVersionInt=11400
20\scaling=1
20\offset=0
20\readonly=false
20\value=1024
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
@@ -185,7 +185,7 @@ GranityVersionInt=11400
23\scaling=1
23\offset=0
23\readonly=false
23\value=6
23\value=11
23\min=0
23\max=11
24\name=KVP
@@ -193,7 +193,7 @@ GranityVersionInt=11400
24\scaling=1
24\offset=0
24\readonly=false
24\value=5000
24\value=600
24\min=0
24\max=300000
25\name=KVI
@@ -201,7 +201,7 @@ GranityVersionInt=11400
25\scaling=1
25\offset=0
25\readonly=false
25\value=400
25\value=200
25\min=0
25\max=300000
26\name=KPP
@@ -209,7 +209,7 @@ GranityVersionInt=11400
26\scaling=1
26\offset=0
26\readonly=false
26\value=1000
26\value=50
26\min=0
26\max=300000
27\name=VFF
@@ -233,7 +233,7 @@ GranityVersionInt=11400
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=85
29\value=100
29\min=0
29\max=119.921875
30\name=CM
@@ -249,7 +249,7 @@ GranityVersionInt=11400
31\scaling=1
31\offset=0
31\readonly=false
31\value=1
31\value=3
31\min=0
31\max=7
32\name=AD
@@ -265,7 +265,7 @@ GranityVersionInt=11400
33\scaling=1
33\offset=0
33\readonly=false
33\value=0
33\value=131096
33\min=0
33\max=-1
34\name=MMC
@@ -289,9 +289,9 @@ GranityVersionInt=11400
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=2
36\value=3
36\min=0
36\max=6
36\max=5.99999999999999
37\name=FOV
37\addr=569
37\scaling=100
@@ -313,7 +313,7 @@ GranityVersionInt=11400
39\scaling=1
39\offset=0
39\readonly=false
39\value=1000
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
@@ -321,7 +321,7 @@ GranityVersionInt=11400
40\scaling=1
40\offset=0
40\readonly=false
40\value=100
40\value=3200
40\min=0
40\max=16384
41\name=FEV
@@ -329,7 +329,7 @@ GranityVersionInt=11400
41\scaling=1
41\offset=0
41\readonly=false
41\value=100
41\value=3000
41\min=1
41\max=30000
42\name=FMO
@@ -353,7 +353,7 @@ GranityVersionInt=11400
44\scaling=100000
44\offset=0
44\readonly=false
44\value=360
44\value=0.00431
44\min=1e-05
44\max=5368.70911
45\name=AXT
@@ -361,7 +361,7 @@ GranityVersionInt=11400
45\scaling=1
45\offset=0
45\readonly=false
45\value=4
45\value=3
45\min=0
45\max=4
46\name=FFT
@@ -377,7 +377,7 @@ GranityVersionInt=11400
47\scaling=1
47\offset=0
47\readonly=false
47\value=15
47\value=7
47\min=0
47\max=32767
48\name=TCH
@@ -417,7 +417,7 @@ GranityVersionInt=11400
52\scaling=1
52\offset=0
52\readonly=false
52\value=50
52\value=5
52\min=1
52\max=16383
53\name=PIF
@@ -433,7 +433,7 @@ GranityVersionInt=11400
54\scaling=1
54\offset=0
54\readonly=false
54\value=50
54\value=5
54\min=1
54\max=16383
55\name=CAL
@@ -441,7 +441,7 @@ GranityVersionInt=11400
55\scaling=1
55\offset=0
55\readonly=false
55\value=50
55\value=20
55\min=1
55\max=32767
56\name=CSD
@@ -457,7 +457,7 @@ GranityVersionInt=11400
57\scaling=1
57\offset=0
57\readonly=false
57\value=50
57\value=2280
57\min=1
57\max=32767
58\name=CRV
@@ -473,7 +473,7 @@ GranityVersionInt=11400
59\scaling=1000
59\offset=0
59\readonly=false
59\value=0.869
59\value=1.754
59\min=0.001
59\max=200
60\name=ML
@@ -481,7 +481,7 @@ GranityVersionInt=11400
60\scaling=1000
60\offset=0
60\readonly=false
60\value=1.905
60\value=2.285
60\min=0.001
60\max=200
61\name=MTC
@@ -505,7 +505,7 @@ GranityVersionInt=11400
63\scaling=1
63\offset=0
63\readonly=false
63\value=3000
63\value=4200
63\min=1
63\max=65000
64\name=CAO
@@ -649,7 +649,7 @@ GranityVersionInt=11400
81\scaling=1000
81\offset=0
81\readonly=false
81\value=1.5
81\value=0
81\min=0
81\max=10
82\name=BER
@@ -657,7 +657,7 @@ GranityVersionInt=11400
82\scaling=1000
82\offset=0
82\readonly=false
82\value=0
82\value=1
82\min=0
82\max=10
83\name=BDD

687
electrical/documents/ioni/wrist_roll.drc Normal file
View File

@@ -0,0 +1,687 @@
[Header]
DRCVersion=110
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
1\addr=6014
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\min=2
1\max=1
2\name=HWTYPE
2\addr=6020
2\scaling=1
2\offset=0
2\readonly=true
2\value=11001
2\min=2
2\max=1
3\name=HWSERIAL
3\addr=6002
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\min=2
3\max=1
4\name=BUILDREVISION
4\addr=6016
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\min=2
4\max=1
5\name=CEI
5\addr=573
5\scaling=1
5\offset=0
5\readonly=false
5\value=0
5\min=0
5\max=2
6\name=UID
6\addr=6003
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\min=2
6\max=1
7\name=SMO
7\addr=14
7\scaling=1
7\offset=0
7\readonly=false
7\value=5
7\min=0
7\max=16
8\name=TRF1
8\addr=424
8\scaling=1
8\offset=0
8\readonly=false
8\value=0
8\min=0
8\max=101
9\name=TRF2
9\addr=426
9\scaling=1
9\offset=0
9\readonly=false
9\value=0
9\min=0
9\max=101
10\name=TRA1
10\addr=425
10\scaling=1000
10\offset=0
10\readonly=false
10\value=0
10\min=-3.5
10\max=3.5
11\name=TRA2
11\addr=427
11\scaling=10.24
11\offset=0
11\readonly=false
11\value=0
11\min=-50
11\max=50
12\name=MPP
12\addr=571
12\scaling=1
12\offset=0
12\readonly=false
12\value=0
12\min=0
12\max=3000
13\name=NOTCHFILT
13\addr=240
13\scaling=1
13\offset=0
13\readonly=false
13\value=668315
13\min=0
13\max=-1
14\name=TED
14\addr=241
14\scaling=100
14\offset=0
14\readonly=false
14\value=0
14\min=0
14\max=100
15\name=TEF
15\addr=242
15\scaling=100
15\offset=0
15\readonly=false
15\value=0
15\min=0
15\max=100
16\name=TEI
16\addr=243
16\scaling=100
16\offset=0
16\readonly=false
16\value=0
16\min=-20
16\max=100
17\name=SERIALENCBITS
17\addr=574
17\scaling=1
17\offset=0
17\readonly=false
17\value=4110
17\min=4
17\max=1048575
18\name=COMMUTATIONCFG
18\addr=482
18\scaling=1
18\offset=0
18\readonly=false
18\value=0
18\min=0
18\max=262143
19\name=HAO
19\addr=575
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\min=-536870912
19\max=536870911
20\name=FBR
20\addr=565
20\scaling=1
20\offset=0
20\readonly=false
20\value=4096
20\min=10
20\max=268435456
21\name=FBD
21\addr=493
21\scaling=1
21\offset=0
21\readonly=false
21\value=5
21\min=0
21\max=-1
22\name=FB2D
22\addr=494
22\scaling=1
22\offset=0
22\readonly=false
22\value=0
22\min=0
22\max=-1
23\name=TBW
23\addr=490
23\scaling=1
23\offset=0
23\readonly=false
23\value=11
23\min=0
23\max=11
24\name=KVP
24\addr=202
24\scaling=1
24\offset=0
24\readonly=false
24\value=600
24\min=0
24\max=300000
25\name=KVI
25\addr=200
25\scaling=1
25\offset=0
25\readonly=false
25\value=200
25\min=0
25\max=300000
26\name=KPP
26\addr=201
26\scaling=1
26\offset=0
26\readonly=false
26\value=50
26\min=0
26\max=300000
27\name=VFF
27\addr=220
27\scaling=1
27\offset=0
27\readonly=false
27\value=0
27\min=0
27\max=300000
28\name=AFF
28\addr=221
28\scaling=1
28\offset=0
28\readonly=false
28\value=0
28\min=0
28\max=300000
29\name=PFF
29\addr=222
29\scaling=10.24
29\offset=0
29\readonly=false
29\value=100
29\min=0
29\max=119.921875
30\name=CM
30\addr=559
30\scaling=1
30\offset=-1
30\readonly=false
30\value=0
30\min=-1
30\max=2
31\name=MT
31\addr=558
31\scaling=1
31\offset=0
31\readonly=false
31\value=3
31\min=0
31\max=7
32\name=AD
32\addr=230
32\scaling=1
32\offset=0
32\readonly=false
32\value=0
32\min=0
32\max=-1
33\name=FLAGS
33\addr=567
33\scaling=1
33\offset=0
33\readonly=false
33\value=131096
33\min=0
33\max=-1
34\name=MMC
34\addr=411
34\scaling=1000
34\offset=0
34\readonly=false
34\value=2
34\min=0.001
34\max=23.478
35\name=MCC
35\addr=410
35\scaling=1000
35\offset=0
35\readonly=false
35\value=1
35\min=0.001
35\max=23.478
36\name=FOC
36\addr=421
36\scaling=16.6666666666667
36\offset=0
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
37\name=FOV
37\addr=569
37\scaling=100
37\offset=0
37\readonly=false
37\value=52
37\min=6
37\max=54
38\name=FUV
38\addr=570
38\scaling=100
38\offset=0
38\readonly=false
38\value=20
38\min=4
38\max=52
39\name=FPT
39\addr=555
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\min=0
39\max=1000000
40\name=FVT
40\addr=556
40\scaling=1
40\offset=0
40\readonly=false
40\value=3200
40\min=0
40\max=16384
41\name=FEV
41\addr=496
41\scaling=1
41\offset=0
41\readonly=false
41\value=3000
41\min=1
41\max=30000
42\name=FMO
42\addr=568
42\scaling=1
42\offset=0
42\readonly=false
42\value=0
42\min=0
42\max=16384
43\name=LSF
43\addr=498
43\scaling=1
43\offset=0
43\readonly=false
43\value=0
43\min=0
43\max=3
44\name=AXS
44\addr=491
44\scaling=100000
44\offset=0
44\readonly=false
44\value=0.00431
44\min=1e-05
44\max=5368.70911
45\name=AXT
45\addr=492
45\scaling=1
45\offset=0
45\readonly=false
45\value=3
45\min=0
45\max=4
46\name=FFT
46\addr=495
46\scaling=2500
46\offset=0
46\readonly=false
46\value=0.1
46\min=0
46\max=26.214
47\name=TSR
47\addr=5012
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\min=0
47\max=32767
48\name=TCH
48\addr=5020
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\min=0
48\max=-1
49\name=TTR
49\addr=5011
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\min=0
49\max=536870911
50\name=TBT
50\addr=5014
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\min=-1000000
50\max=100
51\name=CRI
51\addr=562
51\scaling=1
51\offset=0
51\readonly=false
51\value=0
51\min=0
51\max=-1
52\name=DIV
52\addr=561
52\scaling=1
52\offset=0
52\readonly=false
52\value=5
52\min=1
52\max=16383
53\name=PIF
53\addr=6055
53\scaling=1
53\offset=0
53\readonly=true
53\value=2500
53\min=2
53\max=1
54\name=MUL
54\addr=560
54\scaling=1
54\offset=0
54\readonly=false
54\value=5
54\min=1
54\max=16383
55\name=CAL
55\addr=800
55\scaling=1
55\offset=0
55\readonly=false
55\value=20
55\min=1
55\max=32767
56\name=CSD
56\addr=801
56\scaling=1
56\offset=0
56\readonly=false
56\value=10
56\min=1
56\max=32767
57\name=CVL
57\addr=802
57\scaling=1
57\offset=0
57\readonly=false
57\value=2280
57\min=1
57\max=32767
58\name=CRV
58\addr=557
58\scaling=1
58\offset=0
58\readonly=false
58\value=100
58\min=0
58\max=32767
59\name=MR
59\addr=405
59\scaling=1000
59\offset=0
59\readonly=false
59\value=1.754
59\min=0.001
59\max=200
60\name=ML
60\addr=406
60\scaling=1000
60\offset=0
60\readonly=false
60\value=2.285
60\min=0.001
60\max=200
61\name=MTC
61\addr=430
61\scaling=1
61\offset=0
61\readonly=false
61\value=500
61\min=30
61\max=7200
62\name=MPC
62\addr=566
62\scaling=0.5
62\offset=0
62\readonly=false
62\value=8
62\min=2
62\max=20000
63\name=MMS
63\addr=572
63\scaling=1
63\offset=0
63\readonly=false
63\value=4200
63\min=1
63\max=65000
64\name=CAO
64\addr=563
64\scaling=163.84
64\offset=0
64\readonly=false
64\value=0
64\min=-50
64\max=49.993896484375
65\name=HOMING
65\addr=806
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\min=0
65\max=-1
66\name=HMV
66\addr=804
66\scaling=1
66\offset=0
66\readonly=false
66\value=100
66\min=1
66\max=32767
67\name=HMA
67\addr=803
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\min=1
67\max=32767
68\name=HMH
68\addr=808
68\scaling=1
68\offset=0
68\readonly=false
68\value=0
68\min=0
68\max=300000
69\name=HMT
69\addr=415
69\scaling=1000
69\offset=0
69\readonly=false
69\value=1
69\min=0.001
69\max=23.478
70\name=HHL
70\addr=835
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\min=-536870912
70\max=536870911
71\name=HLL
71\addr=836
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\min=-536870912
71\max=536870911
72\name=HMF
72\addr=823
72\scaling=1
72\offset=0
72\readonly=false
72\value=0
72\min=-536870912
72\max=536870911
73\name=HSA
73\addr=807
73\scaling=1
73\offset=0
73\readonly=false
73\value=0
73\min=-536870912
73\max=536870911
74\name=HSS
74\addr=100
74\scaling=1
74\offset=0
74\readonly=false
74\value=0
74\min=0
74\max=31
75\name=overrideAddr1
75\addr=8120
75\scaling=1
75\offset=0
75\readonly=false
75\value=0
75\min=0
75\max=16384
76\name=overrideAddr2
76\addr=8121
76\scaling=1
76\offset=0
76\readonly=false
76\value=0
76\min=0
76\max=16384
77\name=overrideAddr3
77\addr=8122
77\scaling=1
77\offset=0
77\readonly=false
77\value=0
77\min=0
77\max=16384
78\name=overrideVal1
78\addr=8125
78\scaling=1
78\offset=0
78\readonly=false
78\value=0
78\min=-536870912
78\max=536870911
79\name=overrideVal2
79\addr=8126
79\scaling=1
79\offset=0
79\readonly=false
79\value=0
79\min=-536870912
79\max=536870911
80\name=overrideVal3
80\addr=8127
80\scaling=1
80\offset=0
80\readonly=false
80\value=0
80\min=-536870912
80\max=536870911
81\name=BED
81\addr=911
81\scaling=1000
81\offset=0
81\readonly=false
81\value=0
81\min=0
81\max=10
82\name=BER
82\addr=910
82\scaling=1000
82\offset=0
82\readonly=false
82\value=1
82\min=0
82\max=10
83\name=BDD
83\addr=912
83\scaling=1
83\offset=0
83\readonly=false
83\value=1
83\min=1
83\max=64
84\name=CAPS1
84\addr=6006
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\min=0
84\max=0
85\name=CAPS2
85\addr=6007
85\scaling=1
85\offset=0
85\readonly=true
85\value=16287
85\min=0
85\max=0
size=85

52
electrical/documents/nodes/files/arm_2.err Normal file
View File

@@ -0,0 +1,52 @@
SolidWorks Corporation - STEP Processor Error Log
______________________________________________________
STEP Post Processor
___________________
STEP File Name: C:\Users\Dylan\Documents\GitHub\Rover_2017_2018\electrical\documents\nodes\files\arm_2.step
Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.
Error: Unable to create solid from trimmed surfaces.
STEP-in did not complete successfully.
Surfaces successfully processed into a solid body.
STEP-in completed.Surfaces successfully processed into a solid body.
STEP-in completed.

328637
electrical/documents/nodes/files/arm_2.step Normal file
View File

File diff suppressed because it is too large Load Diff

5
electrical/firmware/Readme.md
View File

@@ -1,5 +0,0 @@
# Rover Firmware
----
This is for the code on any micro-controllers on the Rover.

260
software/firmware/gripper/gripper.ino Normal file
View File

@@ -0,0 +1,260 @@
////////// Includes //////////
#include <PID_v1.h>
#include <Encoder.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
// RS485_EN = 2,
// RS485_RX = 7,
// RS485_TX = 8,
MOTOR_PWM_1 = 25,
MOTOR_PWM_2 = 22,
MOTOR_CURRENT_SENSE = A2,
ENCODER_A = 2,
ENCODER_B = 30,
LED_RED = 6,
LED_GREEN = 32,
LED_BLUE = 13,
};
////////// Global Variables //////////
// define user words for motor states
#define BRAKE 0
#define FWD 1
#define REV 2
#define COAST 3
long oldPosition = -999;
float velocity = 0;
long count = 0;
long oldposition = 0;
long newposition;
int interval = 10;
long prev_time = 0;
float conversion_factor = 1500/31.25; //60.0*1000.0/cpr;
////////// Class Instantiations //////////
// Encoder
Encoder enc(HARDWARE::ENCODER_A, HARDWARE::ENCODER_B);
// Velocity
double setpoint_vel, input_vel, output_vel; //PID velocity variables
PID motor_vel(&input_vel, &output_vel, &setpoint_vel, 10, 1, 0, DIRECT); //velocity PID
double signed_setpoint_vel = -200;
// Position
double setpoint_pos = 0; //PID position variables
double input_pos, output_pos;
PID motor_pos(&input_pos, &output_pos, &setpoint_pos, 10, 0, 0, DIRECT); //position PID
long current_pos = 1000;
// Homing
int trip_threshold = 650;
bool home_flag = true;
long prev_millis = 0;
////////// Setup //////////
void setup() {
setup_hardware();
Serial.begin(9600);
motor_vel.SetMode(AUTOMATIC);
motor_vel.SetSampleTime(1);
motor_pos.SetMode(AUTOMATIC);
motor_pos.SetSampleTime(1);
Serial.println("init");
}
////////// Loop //////////
void loop() {
// Position based homing
// if (home_flag == true){
// Serial.println("homing");
// Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
//
// unsigned long curr_millis = millis();
// // if it is time to move the motor and we haven't tripped the current yet:
// if (curr_millis - prev_millis > interval){
// prev_millis = curr_millis;
// current_pos += 5; // increment by counts
//
// if (analogRead(HARDWARE::MOTOR_CURRENT_SENSE) < trip_threshold){
// current_pos = 0;
// enc.write(0);
// home_flag = false;
// }
// }
// }
// Position movement test
// unsigned long curr_millis = millis();
// // if it is time to move the motor and we haven't tripped the current yet:
// if (curr_millis - prev_millis > interval){
// prev_millis = curr_millis;
// current_pos += 1; // increment by counts
// }
//
// set_position(10000);
//
// Serial.print("Set Pos: ");
// Serial.println(current_pos);
// Serial.print("Curr Pos: ");
// Serial.println(enc.read());
// delay(1);
// Velocity based non blocking homing
if (home_flag == true){
set_velocity(-150);
Serial.println("Homing");
Serial.print("Current: ");
Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
if ((analogRead(HARDWARE::MOTOR_CURRENT_SENSE) > trip_threshold) && (millis() > 500)){
Serial.println("Tripped current sensor!");
set_motor_output(BRAKE, 0); //stop moving
home_flag = false; // no more homing
//set_motor_output(COAST, 0); //stop moving
enc.write(0); // reset encoder
}
}
else {
set_position(current_pos); // hold
Serial.print("Set Pos: ");
Serial.println(current_pos);
Serial.print("Curr Pos: ");
Serial.println(enc.read());
}
delay(1);
}
void setup_hardware(){
// setup IO
pinMode(HARDWARE::MOTOR_PWM_1, OUTPUT);
pinMode(HARDWARE::MOTOR_PWM_2, OUTPUT);
pinMode(HARDWARE::MOTOR_CURRENT_SENSE, INPUT);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_GREEN, OUTPUT);
pinMode(HARDWARE::LED_BLUE, OUTPUT);
// setup default states
set_motor_output(COAST, 0);
digitalWrite(HARDWARE::LED_RED, HIGH);
digitalWrite(HARDWARE::LED_GREEN, HIGH);
digitalWrite(HARDWARE::LED_BLUE, HIGH);
analogReadAveraging(32);
}
void home(int trip_threshold) {
// change to position based homing
while (analogRead(HARDWARE::MOTOR_CURRENT_SENSE) > trip_threshold) {
current_pos = enc.read();
set_position(current_pos + 10);
Serial.print("Current: ");
Serial.println(analogRead(HARDWARE::MOTOR_CURRENT_SENSE));
}
set_motor_output(COAST, 0); //stop moving
enc.write(0);
Serial.println("Home complete");
}
void set_position(double setpoint_input){
input_pos = enc.read(); //get actual current position
setpoint_pos = (double)setpoint_input;
//setpoint_pos = setpoint_input;
//move to new position
if (input_pos > setpoint_pos) { //positive
motor_pos.SetControllerDirection(REVERSE);
motor_pos.Compute();
set_motor_output(REV, output_pos);
}
else { //negative
motor_pos.SetControllerDirection(DIRECT);
motor_pos.Compute();
set_motor_output(FWD, output_pos);
}
}
void set_velocity(double signed_setpoint_vel){
// PID Velocity Control
if (signed_setpoint_vel > 0){ //positive
input_vel = calc_velocity();
setpoint_vel = signed_setpoint_vel;
motor_vel.Compute();
set_motor_output(FWD, output_vel);
}
else{ //negative
input_vel = abs(calc_velocity());
setpoint_vel = abs(signed_setpoint_vel);
motor_vel.Compute();
set_motor_output(REV, output_vel);
}
// Serial.print("Measured Velocity: ");
// Serial.println(input_vel);
}
float calc_velocity(){
unsigned long current_time = millis();
int delta_t = current_time - prev_time;
if (delta_t > interval) {
prev_time = current_time; //reset time
newposition = enc.read(); //find the new position
count = newposition - oldposition; //find the count since the last interval
velocity = (float(count) / float(delta_t))*conversion_factor; //calculate velocity
oldposition = newposition; //set the old position
}
return velocity;
}
void set_motor_output(uint8_t direct, uint8_t pwm){
/*
Control Logic
A | B
0) BRAKE: 1 1
1) FWD: 1/0 0
2) REV: 0 1/0
3) COAST: 0 0
*/
// make sure the PWM doesn't go too high
pwm = map(pwm, 0, 255, 0, 110);
if (direct <= 4){
switch (direct){
case 0:
digitalWrite(HARDWARE::MOTOR_PWM_1, HIGH);
digitalWrite(HARDWARE::MOTOR_PWM_2, HIGH);
break;
case 1:
analogWrite(HARDWARE::MOTOR_PWM_1, pwm);
digitalWrite(HARDWARE::MOTOR_PWM_2, LOW);
break;
case 2:
digitalWrite(HARDWARE::MOTOR_PWM_1, LOW);
analogWrite(HARDWARE::MOTOR_PWM_2, pwm);
break;
case 3:
digitalWrite(HARDWARE::MOTOR_PWM_1, LOW);
digitalWrite(HARDWARE::MOTOR_PWM_2, LOW);
break;
default:
digitalWrite(HARDWARE::MOTOR_PWM_1, LOW);
digitalWrite(HARDWARE::MOTOR_PWM_2, LOW);
}
}
}