CDxlConfig.h

Go to the documentation of this file.

// Dynamixel control code - header file
// Copyright (c) 2008 Erik Schuitema, Eelko van Breda
// Delft University of Technology
// www.dbl.tudelft.nl

#ifndef __DYNAMIXELCONFIG_H_INCLUDED__
#define __DYNAMIXELCONFIG_H_INCLUDED__

#include "CDxlGeneric.h"
#include "dynamixel/DynamixelSpecs.h"
#include "CDxlGroup.h"


#include <threemxl/platform/io/configuration/Configuration.h>
#include <threemxl/platform/io/configuration/OptionVars.h>

#define DXLCONFIG_NUM_CALIBPOINTS       301

// Conversion factors between Dynamixel and SI units
#define DXL_NUM_POSITIONS                               DXL_RX28_NUM_POSITIONS
#define DXL_MAX_POSITION                                DXL_RX28_MAX_POSITION
#define DXL_SPEED_TO_RAD_S                              DXL_RX28_SPEED_TO_RAD_S
#define DXL_STEPS_TO_RAD                                DXL_RX28_STEPS_TO_RAD
#define DXL_TORQUE_TO_RATIO                             DXL_RX28_TORQUE_TO_RATIO

// Temperature needs no conversion
#define DXL_MAX_RAD_S_SPEED                             (DXL_MAX_POSITION*DXL_SPEED_TO_RAD_S)
#define DXL_MAX_RAD_ANGLE                               (DXL_MAX_POSITION*DXL_STEPS_TO_RAD)

#define MOTOR_CONSTANT_MULTIPLIER 10000

enum EDxlCalibType
{
        dxlCtNone,
        dxlCtAuto,      // Calib data obtained with the automatic calibration device
        dxlCtManual     // Calib data obtained with the manual calibration device ('wijzerplaat')
};

// Forward declaration
class CDxlGeneric;

class CDxlConfig
{
        public:
                // All in SI units where possible
                COptionInt              mID;
                std::string     mDxlTypeStr;
                COptionInt              mReturnDelay;   // Return delay time in microseconds
                COptionDouble   mAngleLowerLimit; //motorAngleLowerlimit for 3mxl
                COptionDouble   mAngleUpperLimit; //motorAngleUpperlimit for 3mxl
                COptionBool             mClockwiseIsPositive;// Motor direction for 3mxl

                //<ROBOTIS dynamixel specific>
                COptionDouble   mVoltageLowerLimit;
                COptionDouble   mVoltageUpperLimit;
                COptionChar             mAlarmLED;
                COptionChar             mAlarmShutdown;
                COptionByte             mComplianceMargin;
                COptionByte             mComplianceSlope;
                COptionInt              mTempLimit;             // In degrees celcius
                COptionBool             mLED;
                COptionDouble   mTorqueLimit;
                COptionDouble   mNullAngle;                             // Gives the natural 0-angle of the motor AFTER the sign convention, counted from the real 0-angle of the dynamixel (counted from -150 degrees from the mid point, so you will)
                COptionWord             mPunch;

                // Either calibdate or a direct angleLUT can be provided in the configuration.
                // When such data is available, memory will be created for it.
                EDxlCalibType   mCalibType;
                double  mCalibData[DXLCONFIG_NUM_CALIBPOINTS];  // No. of items: DXLCONFIG_NUM_CALIBPOINTS. Gives the dynamixel position readout for every degree in the range 0 to 300 degrees (use the home-made calibration device to get this data!)
                double  mAngleLUT[DXL_NUM_POSITIONS];           // No. of items: DXL_NUM_POSITIONS. Lookup table for angles. Generate this data with the automatic calibration device
                //</ROBOTIS dynamixel specific>
                //<3mxl specific>
                COptionByte             m3mxlMode;
                COptionByte             mWatchdogMode;
                COptionByte             mWatchdogTime;
                COptionByte             mWatchdogMult;
                COptionByte             mStatusReturnLevel;
                COptionDouble   mMotorConstant;
                COptionDouble   mGearboxRatioMotor;
                COptionDouble   mGearboxRatioJoint;
                COptionWord             mEncoderCountMotor;
                COptionDouble   mOffsetMotor;                                   //zero position of the motor in encoder counts
                COptionDouble   mMaxUninitialisedMotorCurrent;
                COptionDouble   mMaxMotorCurrent;
                COptionWord             mEncoderCountJoint;
                COptionDouble   mOffsetJoint;                                   //zero position of the joint in encoder counts
//              COptionDouble   mMinJointAngle;
//              COptionDouble   mMaxJointAngle;
                COptionDouble   mZeroLengthSpring;
                COptionDouble   mSpringStiffness;
                COptionBool             mJointClockWiseIsPositive;
                COptionDouble   mAcceleration;
                
                COptionDouble   mMaxPeakMotorCurrent;
                COptionDouble   mMaxContinuousMotorCurrent;
                COptionDouble   mMotorWindingTimeConstant;
                COptionByte     mEncoderIndexLevelMotor;
                COptionDouble   mWheelDiameter;
                
                COptionDouble   mPCurrent, mICurrent, mDCurrent, mILCurrent;
                COptionDouble   mPPosition, mIPosition, mDPosition, mILPosition;
                COptionDouble   mPSpeed, mISpeed, mDSpeed, mILSpeed;
                COptionDouble   mPEnergy, mIEnergy, mDEnergy, mILEnergy;
                COptionDouble   mPTorque, mITorque, mDTorque, mILTorque;

                //</3mxl specific>
                CDxlConfig();
                ~CDxlConfig();

                CDxlConfig*     setID(const int ID);                                    // useful in passing this config pointer right after changing the ID.
                bool            readConfig(const CConfigSection &configNode);
                int                     configureDynamixel(CDxlGeneric* dxl);   // call configureDynamixel() AFTER calling CDynamixel::init()!
};

class CDxlGroupConfig
{
        protected:
                CDxlConfig      mDxlConfigs[MAX_NUM_DYNAMIXELS];
                int                     mNumDynamixels;
        public:
                CDxlGroupConfig()                                                               {mNumDynamixels=0;}
                int                     getNumDynamixels()                                      {return mNumDynamixels;}
                CDxlConfig*     getDynamixelConfig(const int index)     {return &mDxlConfigs[index];}

                // Automatic config readout from XML file
                bool            readFromXML(const std::string &filename);

                // If you want, you can fill the config by hand (for debugging)
                /*
                int                     addDynamixel(const int ID)
                {
                        mDxlConfigs[mNumDynamixels].mID = ID;
                        return mNumDynamixels++;
                }
                */
                int                     addDynamixel(CDxlConfig* config) //< store dynamixel config in group config object
                {
                        mDxlConfigs[mNumDynamixels] = *config;
                        return mNumDynamixels++;
                }
};


#endif //__DYNAMIXELCONFIG_H_INCLUDED__