Difference between revisions of "AKENC"
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*It can NOT connected to a (standard) SWIFI due to its baudrate. | *It can NOT connected to a (standard) SWIFI due to its baudrate. | ||
| − | The following can be used to receive telemetry from it: | + | * The following can be used to receive telemetry from it: |
| − | wifi_fast.py -p <SERIAL PORT> -b1000000 -V akenc -L -f xx | + | <strong>wifi_fast.py -p <SERIAL PORT> -b1000000 -V akenc -L -f xx</strong> |
==VLIST== | ==VLIST== | ||
Revision as of 22:54, 26 May 2010
- PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
AKENC Series
ISP / Dataport
- The 9 pin ISP header is like that of the robot and can connect to a PSER for programming and receiving data.
The dataport uses that standard V2 packet, however the baudrate is non-standard (1Mbaud) and it uses little endian (-L option on wifi_fast).
- It can NOT connected to a (standard) SWIFI due to its baudrate.
- The following can be used to receive telemetry from it:
wifi_fast.py -p <SERIAL PORT> -b1000000 -V akenc -L -f xx
VLIST
The following vlist can be use for akenc.vlist:
float ssi_f float adc1 float adc2 float theta float theta_i16 float ssi_theta
In the main program "ap_main" is a data structure that is sent over dataport :
typedef struct PACKED {
float32 ssi;
float32 i1;
float32 i2;
float32 fval1;
float32 fval2;
float32 fval3;
} USER_DATAPORT_OBJ_T;
