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Changed settings for base and shoulder ionis so they maintin absolute position through reboots. Tested and working.

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This commit is contained in:
Corwin Perren
2018-08-02 13:34:17 -07:00
parent ce774c736a
commit d62fdd45b3
3 changed files with 37 additions and 31 deletions
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32
electrical/documents/ioni/base.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1 1\scaling=1
1\offset=0 1\offset=0
1\readonly=true 1\readonly=true
1\value=10702 1\value=10707
1\min=2 1\min=2
1\max=1 1\max=1
2\name=HWTYPE 2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1 3\scaling=1
3\offset=0 3\offset=0
3\readonly=true 3\readonly=true
3\value=110028853 3\value=110028573
3\min=2 3\min=2
3\max=1 3\max=1
4\name=BUILDREVISION 4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1 4\scaling=1
4\offset=0 4\offset=0
4\readonly=true 4\readonly=true
4\value=163070257 4\value=157269493
4\min=2 4\min=2
4\max=1 4\max=1
5\name=CEI 5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1 6\scaling=1
6\offset=0 6\offset=0
6\readonly=true 6\readonly=true
6\value=-314970192 6\value=526566403
6\min=2 6\min=2
6\max=1 6\max=1
7\name=SMO 7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
19\scaling=1 19\scaling=1
19\offset=0 19\offset=0
19\readonly=false 19\readonly=false
19\value=0 19\value=-29203491
19\min=-536870912 19\min=-536870912
19\max=536870911 19\max=536870911
20\name=FBR 20\name=FBR
@@ -291,7 +291,7 @@ GranityVersionInt=11400
36\readonly=false 36\readonly=false
36\value=3 36\value=3
36\min=0 36\min=0
36\max=5.99999999999999 36\max=6
37\name=FOV 37\name=FOV
37\addr=569 37\addr=569
37\scaling=100 37\scaling=100
@@ -313,7 +313,7 @@ GranityVersionInt=11400
39\scaling=1 39\scaling=1
39\offset=0 39\offset=0
39\readonly=false 39\readonly=false
39\value=100000 39\value=175000
39\min=0 39\min=0
39\max=1000000 39\max=1000000
40\name=FVT 40\name=FVT
@@ -377,7 +377,7 @@ GranityVersionInt=11400
47\scaling=1 47\scaling=1
47\offset=0 47\offset=0
47\readonly=false 47\readonly=false
47\value=7 47\value=39
47\min=0 47\min=0
47\max=32767 47\max=32767
48\name=TCH 48\name=TCH
@@ -385,7 +385,7 @@ GranityVersionInt=11400
48\scaling=1 48\scaling=1
48\offset=0 48\offset=0
48\readonly=false 48\readonly=false
48\value=96 48\value=128
48\min=0 48\min=0
48\max=-1 48\max=-1
49\name=TTR 49\name=TTR
@@ -393,7 +393,7 @@ GranityVersionInt=11400
49\scaling=1 49\scaling=1
49\offset=0 49\offset=0
49\readonly=false 49\readonly=false
49\value=4 49\value=3
49\min=0 49\min=0
49\max=536870911 49\max=536870911
50\name=TBT 50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11400
50\scaling=1 50\scaling=1
50\offset=0 50\offset=0
50\readonly=false 50\readonly=false
50\value=10 50\value=0
50\min=-1000000 50\min=-1000000
50\max=100 50\max=100
51\name=CRI 51\name=CRI
@@ -521,7 +521,7 @@ GranityVersionInt=11400
65\scaling=1 65\scaling=1
65\offset=0 65\offset=0
65\readonly=false 65\readonly=false
65\value=0 65\value=416
65\min=0 65\min=0
65\max=-1 65\max=-1
66\name=HMV 66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11400
67\scaling=1 67\scaling=1
67\offset=0 67\offset=0
67\readonly=false 67\readonly=false
67\value=10 67\value=1
67\min=1 67\min=1
67\max=32767 67\max=32767
68\name=HMH 68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11400
70\scaling=1 70\scaling=1
70\offset=0 70\offset=0
70\readonly=false 70\readonly=false
70\value=0 70\value=2861472
70\min=-536870912 70\min=-536870912
70\max=536870911 70\max=536870911
71\name=HLL 71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11400
71\scaling=1 71\scaling=1
71\offset=0 71\offset=0
71\readonly=false 71\readonly=false
71\value=0 71\value=-2861472
71\min=-536870912 71\min=-536870912
71\max=536870911 71\max=536870911
72\name=HMF 72\name=HMF
@@ -673,7 +673,7 @@ GranityVersionInt=11400
84\scaling=1 84\scaling=1
84\offset=0 84\offset=0
84\readonly=true 84\readonly=true
84\value=4194047 84\value=62914303
84\min=0 84\min=0
84\max=0 84\max=0
85\name=CAPS2 85\name=CAPS2

18
electrical/documents/ioni/shoulder.drc
View File

@@ -1,7 +1,7 @@
[Header] [Header]
DRCVersion=110 DRCVersion=110
GranityVersion=1.14.1 GranityVersion=1.14.0
GranityVersionInt=11401 GranityVersionInt=11400
[GDT3Params] [GDT3Params]
1\name=GCFWVER 1\name=GCFWVER
@@ -153,7 +153,7 @@ GranityVersionInt=11401
19\scaling=1 19\scaling=1
19\offset=0 19\offset=0
19\readonly=false 19\readonly=false
19\value=0 19\value=340555
19\min=-536870912 19\min=-536870912
19\max=536870911 19\max=536870911
20\name=FBR 20\name=FBR
@@ -393,7 +393,7 @@ GranityVersionInt=11401
49\scaling=1 49\scaling=1
49\offset=0 49\offset=0
49\readonly=false 49\readonly=false
49\value=4 49\value=1
49\min=0 49\min=0
49\max=536870911 49\max=536870911
50\name=TBT 50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11401
50\scaling=1 50\scaling=1
50\offset=0 50\offset=0
50\readonly=false 50\readonly=false
50\value=10 50\value=0
50\min=-1000000 50\min=-1000000
50\max=100 50\max=100
51\name=CRI 51\name=CRI
@@ -521,7 +521,7 @@ GranityVersionInt=11401
65\scaling=1 65\scaling=1
65\offset=0 65\offset=0
65\readonly=false 65\readonly=false
65\value=0 65\value=416
65\min=0 65\min=0
65\max=-1 65\max=-1
66\name=HMV 66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11401
67\scaling=1 67\scaling=1
67\offset=0 67\offset=0
67\readonly=false 67\readonly=false
67\value=10 67\value=1
67\min=1 67\min=1
67\max=32767 67\max=32767
68\name=HMH 68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11401
70\scaling=1 70\scaling=1
70\offset=0 70\offset=0
70\readonly=false 70\readonly=false
70\value=0 70\value=654050
70\min=-536870912 70\min=-536870912
70\max=536870911 70\max=536870911
71\name=HLL 71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11401
71\scaling=1 71\scaling=1
71\offset=0 71\offset=0
71\readonly=false 71\readonly=false
71\value=0 71\value=-654050
71\min=-536870912 71\min=-536870912
71\max=536870911 71\max=536870911
72\name=HMF 72\name=HMF

18
software/ros_packages/rover_arm/src/rover_arm.cpp
View File

@@ -54,7 +54,9 @@ public:
void run(){ void run(){
char dir = 0; char dir = 0;
printf("OK?: %d", ros::ok()); smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
while(ros::ok()){ while(ros::ok()){
smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0); smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0);
@@ -86,18 +88,22 @@ public:
dir = !dir; dir = !dir;
if(dir){ if(dir){
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0); smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, -50000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0); smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, -50000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0); smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, -50000);
}else{ }else{
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 50000); smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 50000);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 300000); smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 50000);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 250000); smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 50000);
} }
ros::spinOnce(); ros::spinOnce();
} }
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 2, SMP_ABSOLUTE_SETPOINT, 0);
smSetParameter(arm_bus_handle, 3, SMP_ABSOLUTE_SETPOINT, 0);
ROS_ERROR("Shutting down."); ROS_ERROR("Shutting down.");
} }
private: private: