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Motor Controller
SPEAR Common edited this page Feb 16, 2020
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- spear.motor.firstboot: Flag that marks if a node should use default values
- spear.motor.enabled: Flag that enables or disables motors on the node
- spear.motor.actuator_id: ID used to select which messages to react to
- spear.motor.reversed: Used to reverse the motor polarity if needed
- spear.motor.continuous: Not in use
- spear.motor.Kp: Constant factor for proportional component of pid
- spear.motor.Ki: Constant factor for integral component of pid
- spear.motor.Kd: Constant factor for differential component of pid
- spear.motor.encoder.type: Enum describing which motor encoder is used. 0 is Pot, 1 is Quad, 2 is Abs, 3 is None
- spear.motor.encoder.min: Minimum integer value for encoder. 0 for Pot
- spear.motor.encoder.max: Maximum integer value for encoder. 4096 for Pot
- spear.motor.encoder.to-radians: Conversion ratio for integer value of encoder to motor radians
- spear.motor.encoder.endstop_min: Min integer value to hold
- spear.motor.encoder.endstop_max: Max integer value to hold
- spear.motor.linear.support_length: Length of support beam hinge to hinge
- spear.motor.linear.arm_length: Length between linear hinge and support hinge
- spear.motor.linear.length_min: Length of linear beam at min extension
- spear.motor.linear.length_max: Length of linear beam at max extension
* Units for length do not matter as long as they are the same unit
- Front right motor: 41
- Back right motor 43
- Front left motor: 45
- Back left motor: 44
- Hand:
- Wrist left motor:
- Wrist right motor:
- Elbow:
- Shoulder pitch:
- Shoulder yaw:
- node ID: 31
- board ID: 1
- spear.motor.enabled: True
- spear.motor.actuator_id: 41
- spear.motor.reversed: False
- spear.motor.Kp: 0.003
- spear.motor.Ki: 0.0
- spear.motor.Kd: 0.0
- spear.motor.encoder.type: 3
- spear.motor.encoder.min: 0
- spear.motor.encoder.max: 0
- spear.motor.encoder.to-radians: 1.0
- spear.motor.encoder.endstop_min: 0
- spear.motor.encoder.endstop_max: 0
- spear.motor.linear.support_length: 0
- spear.motor.linear.arm_length: 0
- spear.motor.linear.length_min: 0
- spear.motor.linear.length_max: 0
- node ID: 33
- board ID: 3
- spear.motor.enabled: True
- spear.motor.actuator_id: 43
- spear.motor.reversed: False
- spear.motor.Kp: 0.003
- spear.motor.Ki: 0.0
- spear.motor.Kd: 0.0
- spear.motor.encoder.type: 3
- spear.motor.encoder.min: 0
- spear.motor.encoder.max: 0
- spear.motor.encoder.to-radians: 1.0
- spear.motor.encoder.endstop_min: 0
- spear.motor.encoder.endstop_max: 0
- spear.motor.linear.support_length: 0
- spear.motor.linear.arm_length: 0
- spear.motor.linear.length_min: 0
- spear.motor.linear.length_max: 0
- node ID: 35
- board ID: 5
- spear.motor.enabled: True
- spear.motor.actuator_id: 45
- spear.motor.reversed: True
- spear.motor.Kp: 0.003
- spear.motor.Ki: 0.0
- spear.motor.Kd: 0.0
- spear.motor.encoder.type: 3
- spear.motor.encoder.min: 0
- spear.motor.encoder.max: 0
- spear.motor.encoder.to-radians: 1.0
- spear.motor.encoder.endstop_min: 0
- spear.motor.encoder.endstop_max: 0
- spear.motor.linear.support_length: 0
- spear.motor.linear.arm_length: 0
- spear.motor.linear.length_min: 0
- spear.motor.linear.length_max: 0
- node ID: 34
- board ID: 4
- spear.motor.enabled: True
- spear.motor.actuator_id: 44
- spear.motor.reversed: True
- spear.motor.Kp: 0.003
- spear.motor.Ki: 0.0
- spear.motor.Kd: 0.0
- spear.motor.encoder.type: 3
- spear.motor.encoder.min: 0
- spear.motor.encoder.max: 0
- spear.motor.encoder.to-radians: 1.0
- spear.motor.encoder.endstop_min: 0
- spear.motor.encoder.endstop_max: 0
- spear.motor.linear.support_length: 0
- spear.motor.linear.arm_length: 0
- spear.motor.linear.length_min: 0
- spear.motor.linear.length_max: 0