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Update eomcParser and embObjMotionControl to support the new velocityThresh param #903

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merged 6 commits into from
Nov 24, 2023
Merged

Update eomcParser and embObjMotionControl to support the new velocityThresh param #903

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6f01798
update eomcParser and embObjMotionControl to support the new velocity…
sgiraz Aug 29, 2023
9b8f32d
restore parsing of kbemf parameter
sgiraz Aug 31, 2023
b1704a2
required yarp version 3.9.0 and icub-fw-shared 1.30.0
sgiraz Aug 31, 2023
0f0eeac
required yarp version 3.9.0 and icub-fw-shared 1.37.1
sgiraz Nov 17, 2023
bb68a63
update yar required version 3.8.1
sgiraz Nov 21, 2023
833b574
update yarp required version 3.9.0
sgiraz Nov 21, 2023
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -19,7 +19,7 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
option(ICUB_COMPILE_BINDINGS "Compile optional language bindings" FALSE)

set(YCM_REQUIRED_VERSION 0.15.3)
set(YARP_REQUIRED_VERSION 3.8.1)
set(YARP_REQUIRED_VERSION 3.9.0)
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find_package(YCM ${YCM_REQUIRED_VERSION} REQUIRED)
find_package(YARP ${YARP_REQUIRED_VERSION} REQUIRED)
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4 changes: 2 additions & 2 deletions conf/iCubFindDependencies.cmake
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Expand Up @@ -65,8 +65,8 @@ checkandset_dependency(OpenCV)
checkandset_dependency(Qt5)

if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
if(icub_firmware_shared_VERSION VERSION_LESS 1.37.0)
message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.37.0 is required")
if(icub_firmware_shared_VERSION VERSION_LESS 1.37.1)
message(FATAL_ERROR "An old version of icub-firmware-shared has been detected: at least 1.37.1 is required")
endif()
endif()

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13 changes: 8 additions & 5 deletions src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
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Expand Up @@ -1346,6 +1346,7 @@ bool embObjMotionControl::init()
jconfig.motor_params.friction.viscous_neg_val = _measureConverter->viscousNeg_user2raw(_trq_pids[logico].viscousNeg, fisico);
jconfig.motor_params.friction.coulomb_pos_val = _measureConverter->coulombPos_user2raw(_trq_pids[logico].coulombPos, fisico);
jconfig.motor_params.friction.coulomb_neg_val = _measureConverter->coulombNeg_user2raw(_trq_pids[logico].coulombNeg, fisico);
jconfig.motor_params.friction.velocityThres_val = _measureConverter->velocityThres_user2raw(_trq_pids[logico].velocityThres, fisico);

jconfig.gearbox_E2J = _gearbox_E2J[logico];

Expand Down Expand Up @@ -3678,7 +3679,7 @@ bool embObjMotionControl::getRemoteVariableRaw(std::string key, yarp::os::Bottle
MotorTorqueParameters params;
getMotorTorqueParamsRaw(i, &params);
char buff[1000];
snprintf(buff, 1000, "J %d : bemf %+3.3f bemf_scale %+3.3f ktau %+3.3f ktau_scale %+3.3f viscousPos %+3.3f viscousNeg %+3.3f coulombPos %+3.3f coulombNeg %+3.3f", i, params.bemf, params.bemf_scale, params.ktau, params.ktau_scale, params.viscousPos, params.viscousNeg, params.coulombPos, params.coulombNeg);
snprintf(buff, 1000, "J %d : bemf %+3.3f bemf_scale %+3.3f ktau %+3.3f ktau_scale %+3.3f viscousPos %+3.3f viscousNeg %+3.3f coulombPos %+3.3f coulombNeg %+3.3f velocityThres %+3.3f", i, params.bemf, params.bemf_scale, params.ktau, params.ktau_scale, params.viscousPos, params.viscousNeg, params.coulombPos, params.coulombNeg, params.velocityThres);
r.addString(buff);
}
return true;
Expand Down Expand Up @@ -4102,8 +4103,9 @@ bool embObjMotionControl::getMotorTorqueParamsRaw(int j, MotorTorqueParameters *
params->viscousNeg = eo_params.friction.viscous_neg_val ;
params->coulombPos = eo_params.friction.coulomb_pos_val;
params->coulombNeg = eo_params.friction.coulomb_neg_val;
params->velocityThres = eo_params.friction.velocityThres_val;

//printf("debug getMotorTorqueParamsRaw %f %f %f %f %f %f %f %f\n", params->bemf, params->bemf_scale, params->ktau,params->ktau_scale, params->viscousPos, params->viscousNeg, params->coulombPos, params->coulombNeg);
//printf("debug getMotorTorqueParamsRaw %f %f %f %f %f %f %f %f\n", params->bemf, params->bemf_scale, params->ktau,params->ktau_scale, params->viscousPos, params->viscousNeg, params->coulombPos, params->coulombNeg, params->threshold);

return true;
}
Expand All @@ -4113,16 +4115,17 @@ bool embObjMotionControl::setMotorTorqueParamsRaw(int j, const MotorTorqueParame
eOprotID32_t id32 = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint, j, eoprot_tag_mc_joint_config_motor_params);
eOmc_motor_params_t eo_params = {0};

//printf("setMotorTorqueParamsRaw for j %d(INPUT): benf=%f ktau=%f viscousPos=%f viscousNeg=%f coulombPos=%f coulombNeg=%f\n",j, params.bemf, params.ktau, params.viscousPos, params.viscousNeg, params.coulombPos, params.coulombNeg);
//printf("setMotorTorqueParamsRaw for j %d(INPUT): benf=%f ktau=%f viscousPos=%f viscousNeg=%f coulombPos=%f coulombNeg=%f\n",j, params.bemf, params.ktau, params.viscousPos, params.viscousNeg, params.coulombPos, params.coulombNeg, params.threshold);

eo_params.bemf_value = (float) params.bemf;
eo_params.bemf_scale = (uint8_t) params.bemf_scale;
eo_params.ktau_value = (float) params.ktau;
eo_params.ktau_scale = (uint8_t) params.ktau_scale;
eo_params.friction.viscous_pos_val = static_cast<float32_t>(params.viscousPos);
eo_params.friction.viscous_pos_val = static_cast<float32_t>(params.viscousPos);
eo_params.friction.viscous_neg_val = static_cast<float32_t>(params.viscousNeg);
eo_params.friction.coulomb_pos_val = static_cast<float32_t>(params.coulombPos);
eo_params.friction.coulomb_pos_val = static_cast<float32_t>(params.coulombPos);
eo_params.friction.coulomb_neg_val = static_cast<float32_t>(params.coulombNeg);
eo_params.friction.velocityThres_val = static_cast<float32_t>(params.velocityThres);


if(false == res->setRemoteValue(id32, &eo_params))
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20 changes: 19 additions & 1 deletion src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
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Expand Up @@ -56,6 +56,7 @@ yarp::dev::eomc::Parser::Parser(int numofjoints, string boardname)
_viscousNeg=allocAndCheck<double>(_njoints);
_coulombPos=allocAndCheck<double>(_njoints);
_coulombNeg=allocAndCheck<double>(_njoints);
_velocityThres=allocAndCheck<double>(_njoints);

minjerkAlgoMap.clear();
//directAlgoMap.clear();
Expand All @@ -71,6 +72,7 @@ Parser::~Parser()
checkAndDestroy(_viscousNeg);
checkAndDestroy(_coulombPos);
checkAndDestroy(_coulombNeg);
checkAndDestroy(_velocityThres);
}


Expand Down Expand Up @@ -901,7 +903,7 @@ bool Parser::parsePidsGroupDeluxe(Bottle& pidsGroup, Pid myPid[])

Bottle xtmp;

if (!extractGroup(pidsGroup, xtmp, "kbemf", "kbemf parameter", _njoints)) return false;
if (!extractGroup(pidsGroup, xtmp, "kbemf", "kbemf parameter", _njoints, false)) return false;
for (int j = 0; j<_njoints; j++) _kbemf[j] = xtmp.get(j + 1).asFloat64();

if (!extractGroup(pidsGroup, xtmp, "ktau", "ktau parameter", _njoints)) return false;
Expand Down Expand Up @@ -947,6 +949,21 @@ bool Parser::parsePidsGroupDeluxe(Bottle& pidsGroup, Pid myPid[])
for (int j = 0; j<_njoints; j++) _coulombNeg[j] = xtmp.get(j + 1).asFloat64();
}

if (!extractGroup(pidsGroup, xtmp, "velocityThres", "velocity threshold parameter for torque control", _njoints, false))
{
for (int j = 0; j<_njoints; j++) _velocityThres[j] = 0;
}
else
{
for (int j = 0; j<_njoints; j++)
{
_velocityThres[j] = xtmp.get(j + 1).asFloat64();
std::cout << "_velocityThres[" << j << "] = " << _velocityThres[j] << std::endl;
}

}


return true;
}

Expand Down Expand Up @@ -1279,6 +1296,7 @@ bool Parser::getCorrectPidForEachJoint(PidInfo *ppids/*, PidInfo *vpids*/, TrqPi
tpids[i].viscousNeg = _viscousNeg[i];
tpids[i].coulombPos = _coulombPos[i];
tpids[i].coulombNeg = _coulombNeg[i];
tpids[i].velocityThres = _velocityThres[i];
tpids[i].filterType = _filterType[i];
}
else
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2 changes: 2 additions & 0 deletions src/libraries/icubmod/embObjMotionControl/eomcParser.h
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Expand Up @@ -197,6 +197,7 @@ class TrqPidInfo : public PidInfo
double viscousNeg;
double coulombPos;
double coulombNeg;
double velocityThres;
int filterType;
};

Expand Down Expand Up @@ -349,6 +350,7 @@ class Parser
double *_viscousNeg;
double *_coulombPos;
double *_coulombNeg;
double *_velocityThres;



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