Difference between revisions of "AKENC"
From DIDEAS Wiki
m (→ISP / Dataport) |
m (→AKENC Series) |
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=AKENC Series= | =AKENC Series= | ||
+ | ==revisions== | ||
+ | *akenc2b : not yet tested | ||
+ | *akenc3 : installed in H2 | ||
+ | *akenc3d : not yet tested | ||
+ | *akenc3m : used for firmware development | ||
+ | *akenc4a : not yet tested | ||
+ | *akenb4m : used for firmware development | ||
=ISP / Dataport= | =ISP / Dataport= |
Revision as of 22:58, 26 May 2010
- PF Users Navigation:
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- 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
Contents
AKENC Series
revisions
- akenc2b : not yet tested
- akenc3 : installed in H2
- akenc3d : not yet tested
- akenc3m : used for firmware development
- akenc4a : not yet tested
- akenb4m : used for firmware development
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;