DynamixelSpecs.h

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/*
 * DynamixelSpecs.h
 *
 *  Created on: Jun 19, 2009
 *      Author: Erik Schuitema
 */

#ifndef DYNAMIXELSPECS_H_
#define DYNAMIXELSPECS_H_

// Conversions
#define DXL_RX28_NUM_POSITIONS                  1024
#define DXL_RX28_MAX_POSITION                   1023
#define DXL_RX28_SPEED_TO_RAD_S                 0.01163552834662886385  // = (M_PI/270.0)       // Multiply speed with 0.111 (~=1/9) to get RPM. Multiply RPM with (2pi/60) for rad/s.
#define DXL_RX28_STEPS_TO_RAD                   0.00511826760115639172  // = ((300.0/360.0)*2.0*M_PI/1023.0)
#define DXL_RX28_TORQUE_TO_RATIO                0.00097751710654936461  // = (1.0/1023.0)

#define DXL_RX64_SPEED_TO_RAD_S                 DXL_RX28_SPEED_TO_RAD_S
#define DXL_RX64_STEPS_TO_RAD                   DXL_RX28_STEPS_TO_RAD

#define DXL_MX28_NUM_POSITIONS                  4096
#define DXL_MX28_MAX_POSITION                   4095
#define DXL_MX28_SPEED_TO_RAD_S                 0.005550147021342       // = 0.053*2*M_PI/60
#define DXL_MX28_STEPS_TO_RAD                   0.001533980787886       // = 2*M_PI/4096
#define DXL_MX28_TORQUE_TO_RATIO                0.00097751710654936461  // = (1.0/1023.0)

#define DXL_VOLTAGE_TO_VOLT                             0.1


// Max torques in [Nm]
#define DXL_RX28_MAX_TORQUE_PER_VOLT    (3.3/14)
#define DXL_RX64_MAX_TORQUE_PER_VOLT    (0.4291)
// Max speeds
#define DXL_RX28_MAX_SPEED_PER_VOLT             (40.75*DXL_RX28_SPEED_TO_RAD_S) // In rad/s
#define DXL_RX64_MAX_SPEED_PER_VOLT             (31.78*DXL_RX64_SPEED_TO_RAD_S) // In rad/s. Yes, this is lower than for the RX-28.

// Motor coefficients
#define DXL_RX28_TORQUE_CONST                   0.00992
#define DXL_RX28_GEARBOX_RATIO                  193.0

// Temperature coefficients
#define DXL_RX28_COPPER_COEF                    0.004   // Was 0.0041, which worked well with motorCoeff=-0.002 for half compensation. And tempRef = 20deg.
#define DXL_RX28_MAGNET_COEF                    (-0.00) // According to Maxon, this is -0.0011. (Was -0.002, which worked well for half compensation (not logical! since back-emf is ignored))


#endif /* DYNAMIXELSPECS_H_ */