AKENC

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• 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

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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;