Common: Add motID to event; AMCFOC: evt sorter; AMCBLDC: fix set Volt…

…age (#96)
robotology · Oct 7, 2024 · c8834b2 · c8834b2
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diff --git a/boards/amcbldc/messaging/can_decoder.slx b/boards/amcbldc/messaging/can_decoder.slx
diff --git a/boards/amcbldc/messaging/can_encoder.slx b/boards/amcbldc/messaging/can_encoder.slx
diff --git a/...VZKhX41U/f9ngmlbrgoNAu2HPakO-F4_mn_Qd.xml → ...VZKhX41U/-LUxQ3IaWTIXsyilgcIVA4OsmEId.xml b/...VZKhX41U/f9ngmlbrgoNAu2HPakO-F4_mn_Qd.xml → ...VZKhX41U/-LUxQ3IaWTIXsyilgcIVA4OsmEId.xml
@@ -1,4 +1,4 @@
-<?xml version='1.0' encoding='UTF-8'?>
+<?xml version="1.0" encoding="UTF-8"?>
 <Info>
     <Category UUID="FileClassCategory">
         <Label UUID="design"/>

diff --git a/...ds/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/-LUxQ3IaWTIXsyilgcIVA4OsmEIp.xml b/...ds/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/-LUxQ3IaWTIXsyilgcIVA4OsmEIp.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="initialize_amcbldc_config.m" type="File"/>
diff --git a/...ds/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/f9ngmlbrgoNAu2HPakO-F4_mn_Qp.xml b/...ds/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/f9ngmlbrgoNAu2HPakO-F4_mn_Qp.xml
diff --git a/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml b/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
@@ -1,2 +1,2 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<Info Name="AMC_BLDC_legacy"/>
+<Info Name="AMC_BLDC"/>
diff --git a/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx b/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx
diff --git a/boards/amcbldc/system/AMC_BLDC.slx b/boards/amcbldc/system/AMC_BLDC.slx
diff --git a/boards/amcbldc/system/amcbldc_init_config.m b/boards/amcbldc/system/amcbldc_init_config.m
diff --git a/boards/amcbldc/system/dictionaries/amcbldc.sldd b/boards/amcbldc/system/dictionaries/amcbldc.sldd
diff --git a/boards/amcbldc/system/dictionaries/can_messaging.sldd b/boards/amcbldc/system/dictionaries/can_messaging.sldd
diff --git a/boards/amcbldc/system/initialize_amcbldc_config.m b/boards/amcbldc/system/initialize_amcbldc_config.m
@@ -0,0 +1,73 @@
+%% ------------------------------------------------------------------
+%  You can modify the values of the fields in ActuatorInitConfMultiple
+%  and evaluate this cell to create/update this structure
+%  in the MATLAB base workspace.
+% -------------------------------------------------------------------
+
+%% CONFIGURATION FOR FIRST MOTOR
+function initialize_amcbldc_config
+AmcbldcInitConf(1).thresholds = struct;
+AmcbldcInitConf(1).thresholds.jntVelMax = single(40000);
+AmcbldcInitConf(1).thresholds.motorNominalCurrents = single(0.35);
+AmcbldcInitConf(1).thresholds.motorPeakCurrents = single(0.7);
+AmcbldcInitConf(1).thresholds.motorOverloadCurrents = single(1);
+AmcbldcInitConf(1).thresholds.motorPwmLimit = uint32(32000);
+AmcbldcInitConf(1).thresholds.motorCriticalTemperature = single(0);
+AmcbldcInitConf(1).pids = struct;
+AmcbldcInitConf(1).pids.currentPID = struct;
+AmcbldcInitConf(1).pids.currentPID.type = ControlModes.Current;
+AmcbldcInitConf(1).pids.currentPID.OutMax = single(0);
+AmcbldcInitConf(1).pids.currentPID.OutMin = single(0);
+AmcbldcInitConf(1).pids.currentPID.P = single(2);
+AmcbldcInitConf(1).pids.currentPID.I = single(500);
+AmcbldcInitConf(1).pids.currentPID.D = single(0);
+AmcbldcInitConf(1).pids.currentPID.N = single(10);
+AmcbldcInitConf(1).pids.currentPID.I0 = single(0);
+AmcbldcInitConf(1).pids.currentPID.D0 = single(0);
+AmcbldcInitConf(1).pids.currentPID.shift_factor = uint8(0);
+AmcbldcInitConf(1).pids.velocityPID = struct;
+AmcbldcInitConf(1).pids.velocityPID.type = ControlModes.Velocity;
+AmcbldcInitConf(1).pids.velocityPID.OutMax = single(0);
+AmcbldcInitConf(1).pids.velocityPID.OutMin = single(0);
+AmcbldcInitConf(1).pids.velocityPID.P = single(-20);
+AmcbldcInitConf(1).pids.velocityPID.I = single(-20);
+AmcbldcInitConf(1).pids.velocityPID.D = single(0);
+AmcbldcInitConf(1).pids.velocityPID.N = single(100);
+AmcbldcInitConf(1).pids.velocityPID.I0 = single(0);
+AmcbldcInitConf(1).pids.velocityPID.D0 = single(0);
+AmcbldcInitConf(1).pids.velocityPID.shift_factor = uint8(10);
+AmcbldcInitConf(1).pids.positionPID = struct;
+AmcbldcInitConf(1).pids.positionPID.type = ControlModes.Position;
+AmcbldcInitConf(1).pids.positionPID.OutMax = single(0);
+AmcbldcInitConf(1).pids.positionPID.OutMin = single(0);
+AmcbldcInitConf(1).pids.positionPID.P = single(0);
+AmcbldcInitConf(1).pids.positionPID.I = single(0);
+AmcbldcInitConf(1).pids.positionPID.D = single(0);
+AmcbldcInitConf(1).pids.positionPID.N = single(0);
+AmcbldcInitConf(1).pids.positionPID.I0 = single(0);
+AmcbldcInitConf(1).pids.positionPID.D0 = single(0);
+AmcbldcInitConf(1).pids.positionPID.shift_factor = uint8(0);
+AmcbldcInitConf(1).motor = struct;
+AmcbldcInitConf(1).motor.externals = struct;
+AmcbldcInitConf(1).motor.externals.enable_verbosity = false;
+AmcbldcInitConf(1).motor.externals.has_hall_sens = true;
+AmcbldcInitConf(1).motor.externals.has_quadrature_encoder = false;
+AmcbldcInitConf(1).motor.externals.has_speed_quadrature_encoder = false;
+AmcbldcInitConf(1).motor.externals.has_temperature_sens = false;
+AmcbldcInitConf(1).motor.externals.encoder_tolerance = uint8(0);
+AmcbldcInitConf(1).motor.externals.pole_pairs = uint8(7);
+AmcbldcInitConf(1).motor.externals.rotor_encoder_resolution = int16(0);
+AmcbldcInitConf(1).motor.externals.rotor_index_offset = int16(0);
+AmcbldcInitConf(1).motor.externals.use_index = false;
+AmcbldcInitConf(1).motor.Kbemf = single(0);
+AmcbldcInitConf(1).motor.Rphase = single(0);
+AmcbldcInitConf(1).motor.Imin = single(0);
+AmcbldcInitConf(1).motor.Imax = single(0);
+AmcbldcInitConf(1).motor.Vmax = single(24);
+AmcbldcInitConf(1).motor.resistance = single(25.9);
+AmcbldcInitConf(1).motor.inductance = single(271);
+AmcbldcInitConf(1).motor.thermal_resistance = single(16);
+AmcbldcInitConf(1).motor.thermal_time_constant = single(797.5);
+AmcbldcInitConf(1).motor.hall_sensors_offset = single(30);
+
+update_initial_actuators_config("amcbldc.sldd", "AmcbldcInitConf", AmcbldcInitConf);
diff --git a/boards/amcbldc/system/motion_controller_single.slx b/boards/amcbldc/system/motion_controller_single.slx
diff --git a/boards/amcbldc/tests/supervisor/can_multiple_messages.slx b/boards/amcbldc/tests/supervisor/can_multiple_messages.slx
diff --git a/boards/amcfoc/models/iterative_motion_controller.slx b/boards/amcfoc/models/iterative_motion_controller.slx
diff --git a/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24d.xml b/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24d.xml
diff --git a/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwd.xml b/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwd.xml
diff --git a/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwp.xml b/boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwp.xml
diff --git a/boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cd.xml b/boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cd.xml
diff --git a/boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cp.xml b/boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cp.xml
diff --git a/boards/amcfoc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/G9LCfchVAXZgISvYkgBpiSu13egd.xml b/boards/amcfoc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/G9LCfchVAXZgISvYkgBpiSu13egd.xml
diff --git a/boards/amcfoc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/G9LCfchVAXZgISvYkgBpiSu13egp.xml b/boards/amcfoc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/G9LCfchVAXZgISvYkgBpiSu13egp.xml
diff --git a/boards/amcfoc/resources/project/VM3O54iUyQ_56n4j9ErwhKHCP2A/cbWE6esvTcqHfk7VZK7A_cC3Udcd.xml b/boards/amcfoc/resources/project/VM3O54iUyQ_56n4j9ErwhKHCP2A/cbWE6esvTcqHfk7VZK7A_cC3Udcd.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
diff --git a/...Ij1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24p.xml → ...whKHCP2A/cbWE6esvTcqHfk7VZK7A_cC3Udcp.xml b/...Ij1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24p.xml → ...whKHCP2A/cbWE6esvTcqHfk7VZK7A_cC3Udcp.xml
@@ -1,2 +1,2 @@
-<?xml version='1.0' encoding='UTF-8'?>
+<?xml version="1.0" encoding="UTF-8"?>
 <Info location="1" type="DIR_SIGNIFIER"/>
diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml
diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8p.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8p.xml
diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/VM3O54iUyQ_56n4j9ErwhKHCP2Ad.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/VM3O54iUyQ_56n4j9ErwhKHCP2Ad.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
diff --git a/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/VM3O54iUyQ_56n4j9ErwhKHCP2Ap.xml b/boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/VM3O54iUyQ_56n4j9ErwhKHCP2Ap.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="supervision" type="File"/>
diff --git a/boards/amcfoc/system/amcfoc_init_config.m b/boards/amcfoc/system/amcfoc_init_config.m
diff --git a/boards/amcfoc/system/dictionaries/amcfoc.sldd b/boards/amcfoc/system/dictionaries/amcfoc.sldd
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		<?xml version="1.0" encoding="UTF-8"?>
		<Info location="initialize_amcbldc_config.m" type="File"/>
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		<?xml version="1.0" encoding="UTF-8"?>
		<Info/>
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		<?xml version="1.0" encoding="UTF-8"?>
		<Info location="supervision" type="File"/>