void YouBotDiagnostics::getAllTopologicalInformation()
{
bool reset = true;
unsigned jointNo = 0;
unsigned jointCfg = 0;
//joint konfiguration variables
JointName jName;
GearRatio gearRatio;
EncoderTicksPerRound ticksPerRound;
InverseMovementDirection inverseDir;
JointLimits jLimits;
FirmwareVersion firmwareTypeVersion;
ticksPerRound.setParameter(4000);
int controllerType;
string firmwareVersion;
*outputFile << "----- Topological Information of all slaves: -----" << endl;
for (int i = 0, slaveCtr = 1; i < etherCATSlaves.size(); i++, slaveCtr++)
{
//formatted output:
*outputFile << "slave no " << setw(2) << slaveCtr << ":\t" << slaveTypMap[etherCATSlaves[i].name];
// if( slaveTypMap[etherCATSlaves[i].name] == "BASE-Master")
// *outputFile << ": " << etherCATSlaves[i].name;
// else
*outputFile << ":\t" << etherCATSlaves[i].name;
if ( slaveTypMap[etherCATSlaves[i].name] == "BASE-Master" || slaveTypMap[etherCATSlaves[i].name] == "ARM-Master")
*outputFile << "\t\t--> parent: ";
else
*outputFile << "\t--> parent: ";
*outputFile << setw(2) << etherCATSlaves[i].parent << "\t--> connections: " << setw(2) << (int) etherCATSlaves[i].topology << endl;
//create the joint map
if (reset)
jointCfg = 1;
else
jointCfg++;
if ( !strcmp( etherCATSlaves[i].name, BASE_MASTER_BOARD) )
{
reset = true;
noOfBaseMasterBoards++;
motorActivity[slaveCtr] = true;
}
if ( !strcmp( etherCATSlaves[i].name, ARM_MASTER_BOARD ) )
{
reset = true;
noOfArmMasterBoards++;
motorActivity[slaveCtr] = true;
}
if ( !strcmp( etherCATSlaves[i].name, BASE_CONTROLLER ) )
{
noOfBaseSlaveControllers++;
jointNo++;
reset = false;
TopologyMap::iterator it = youBotJointMap.insert( pair<int, JointTopology>( slaveCtr, JointTopology() ) ).first;
it->second.relatedUnit = string("BASE");
it->second.relatedMasterBoard = string(BASE_MASTER_BOARD);
it->second.controllerTyp = string(BASE_CONTROLLER);
it->second.masterBoardNo = noOfBaseMasterBoards;
it->second.slaveNo = slaveCtr;
it->second.jointTopologyNo = jointNo;
it->second.jointConfigNo = jointCfg;
it->second.joint = new YouBotJoint(jointNo);
it->second.joint->getConfigurationParameter(firmwareTypeVersion);
firmwareTypeVersion.getParameter(controllerType, firmwareVersion);
it->second.firmwareVersion = atof(firmwareVersion.c_str());
stringstream name;
name << "joint_" << jointNo;
jName.setParameter( name.str() );
gearRatio.setParameter(364.0/9405.0);
inverseDir.setParameter(false);
it->second.joint->setConfigurationParameter(jName);
it->second.joint->setConfigurationParameter(gearRatio);
it->second.joint->setConfigurationParameter(ticksPerRound);
it->second.joint->setConfigurationParameter(inverseDir);
}
if( !strcmp( etherCATSlaves[i].name, ARM_CONTROLLER ) )
{
noOfArmSlaveControllers++;
jointNo++;
reset = false;
TopologyMap::iterator it = youBotJointMap.insert( pair<int, JointTopology>( slaveCtr, JointTopology() ) ).first;
it->second.relatedUnit = string("MANIPULATOR");
it->second.relatedMasterBoard = string(ARM_MASTER_BOARD);
it->second.controllerTyp = string(ARM_CONTROLLER);
it->second.masterBoardNo = noOfArmMasterBoards;
it->second.slaveNo = slaveCtr;
it->second.jointTopologyNo = jointNo;
it->second.jointConfigNo = jointCfg;
it->second.joint = new YouBotJoint(jointNo);
it->second.joint->getConfigurationParameter(firmwareTypeVersion);
firmwareTypeVersion.getParameter(controllerType, firmwareVersion);
it->second.firmwareVersion = atof(firmwareVersion.c_str());
stringstream name;
name << "joint_" << jointNo;
jName.setParameter( name.str() );
switch (jointCfg)
{
case 1:
gearRatio.setParameter(1.0/156.0);
inverseDir.setParameter(true);
jLimits.setParameter(-580000, -1000, true);
break;
case 2:
gearRatio.setParameter(1.0/156.0);
inverseDir.setParameter(true);
jLimits.setParameter(-260000, -1000, true);
break;
case 3:
gearRatio.setParameter(1.0/100.0);
inverseDir.setParameter(true);
jLimits.setParameter(-320000, -1000, true);
break;
case 4:
gearRatio.setParameter(1.0/ 71.0);
inverseDir.setParameter(true);
jLimits.setParameter(-155000, -1000, true);
break;
case 5:
gearRatio.setParameter(1.0/ 71.0);
inverseDir.setParameter(true);
jLimits.setParameter(-255000, -1000, true);
break;
}
it->second.joint->setConfigurationParameter(jName);
it->second.joint->setConfigurationParameter(ticksPerRound);
it->second.joint->setConfigurationParameter(inverseDir);
it->second.joint->setConfigurationParameter(jLimits);
it->second.joint->setConfigurationParameter(gearRatio);
}
}
*outputFile << separator;
*outputFile << "Number of ALL slaves: " << etherCATSlaves.size() << endl;
*outputFile << "Number of JOINT slaves: " << youBotJointMap.size() << endl;
*outputFile << "Number of BaseMasterBoards: " << noOfBaseMasterBoards << endl;
*outputFile << "Number of BaseSlaveControllers: " << noOfBaseSlaveControllers << endl;
*outputFile << "Number of ArmMasterBoards: " << noOfArmMasterBoards << endl;
*outputFile << "Number of ArmSlaveControllers: " << noOfArmSlaveControllers << endl;
*outputFile << separator;
}
///calibrate the reference position of the arm joints
void YouBotManipulator::calibrateManipulator(const bool forceCalibration) {
// Bouml preserved body begin 000A9C71
//Calibrate all manipulator joints
std::vector<JointRoundsPerMinuteSetpoint> calibrationVel;
JointRoundsPerMinuteSetpoint tempdummy;
tempdummy.rpm = 0;
calibrationVel.assign(numberArmJoints, tempdummy);
std::vector<quantity<si::current> > maxCurrent;
quantity<si::current> tempdummy2;
maxCurrent.assign(numberArmJoints, tempdummy2);
std::vector<bool> doCalibration;
doCalibration.assign(numberArmJoints, true);
std::string jointName;
double dummy = 0;
char index = 16; // Parameter 0 to 15 of bank 2 are password protected
YouBotSlaveMailboxMsg IsCalibratedReadMessage;
IsCalibratedReadMessage.stctOutput.moduleAddress = DRIVE;
IsCalibratedReadMessage.stctOutput.commandNumber = GGP;
IsCalibratedReadMessage.stctOutput.typeNumber = index;
IsCalibratedReadMessage.stctOutput.motorNumber = USER_VARIABLE_BANK;
IsCalibratedReadMessage.stctOutput.value = 0;
IsCalibratedReadMessage.stctInput.value = 0;
YouBotSlaveMailboxMsg IsCalibratedSetMessage;
IsCalibratedSetMessage.stctOutput.moduleAddress = DRIVE;
IsCalibratedSetMessage.stctOutput.commandNumber = SGP;
IsCalibratedSetMessage.stctOutput.typeNumber = index;
IsCalibratedSetMessage.stctOutput.motorNumber = USER_VARIABLE_BANK;
IsCalibratedSetMessage.stctOutput.value = 1;
//get parameters for calibration
for (unsigned int i = 0; i < numberArmJoints; i++) {
std::stringstream jointNameStream;
jointNameStream << "Joint_" << i + 1;
jointName = jointNameStream.str();
bool calib = true;
configfile->readInto(calib, jointName, "DoCalibration");
doCalibration[i] = calib;
joints[i].getConfigurationParameter(IsCalibratedReadMessage);
if (IsCalibratedReadMessage.stctInput.value == 1) {
doCalibration[i] = false;
}
if (forceCalibration) {
doCalibration[i] = true;
}
configfile->readInto(dummy, jointName, "CalibrationMaxCurrent_[ampere]");
maxCurrent[i] = dummy * ampere;
std::string direction;
configfile->readInto(direction, jointName, "CalibrationDirection");
GearRatio gearRatio;
joints[i].getConfigurationParameter(gearRatio);
double gearratio = 1;
gearRatio.getParameter(gearratio);
if (direction == "POSITIV") {
calibrationVel[i].rpm = 1 / gearratio;
} else if (direction == "NEGATIV") {
calibrationVel[i].rpm = -1 / gearratio;
} else {
throw std::runtime_error("Wrong calibration direction for " + jointName);
}
}
LOG(info) << "Calibrate Manipulator Joints ";
std::vector<bool> finished;
finished.assign(numberArmJoints, false);
int numberUnfinished = numberArmJoints;
JointSensedCurrent sensedCurrent;
//move the joints slowly in calibration direction
for (unsigned int i = 0; i < numberArmJoints; i++) {
if (doCalibration[i] == true) {
joints[i].setData(calibrationVel[i]);
if(!ethercatMaster.isThreadActive()){
ethercatMaster.sendProcessData();
ethercatMaster.receiveProcessData();
}
} else {
if (!finished[i]) {
finished[i] = true;
numberUnfinished--;
}
}
}
//monitor the current to find end stop
while (numberUnfinished > 0) {
for (unsigned int i = 0; i < numberArmJoints; i++) {
if(!ethercatMaster.isThreadActive()){
ethercatMaster.sendProcessData();
ethercatMaster.receiveProcessData();
}
joints[i].getData(sensedCurrent);
//turn till a max current is reached
if (abs(sensedCurrent.current) > abs(maxCurrent[i])) {
//stop movement
youbot::JointCurrentSetpoint currentStopMovement;
currentStopMovement.current = 0 * ampere;
joints[i].setData(currentStopMovement);
if(!ethercatMaster.isThreadActive()){
ethercatMaster.sendProcessData();
ethercatMaster.receiveProcessData();
}
if (!finished[i]) {
finished[i] = true;
numberUnfinished--;
}
}
}
SLEEP_MILLISEC(1);
}
// wait to let the joint stop the motion
SLEEP_MILLISEC(100);
for (unsigned int i = 0; i < numberArmJoints; i++) {
if (doCalibration[i] == true) {
//set encoder reference position
joints[i].setEncoderToZero();
if(!ethercatMaster.isThreadActive()){
ethercatMaster.sendProcessData();
ethercatMaster.receiveProcessData();
}
// set a flag in the user variable to remember that it is calibrated
joints[i].setConfigurationParameter(IsCalibratedSetMessage);
// LOG(info) << "Calibration finished for joint: " << this->jointName;
}
}
//setting joint Limits
JointLimits jLimits;
for (unsigned int i = 0; i < numberArmJoints; i++) {
long upperlimit = 0, lowerlimit = 0;
std::stringstream jointNameStream;
bool inverted = false;
jointNameStream << "Joint_" << i + 1;
jointName = jointNameStream.str();
JointEncoderSetpoint minEncoderValue;
configfile->readInto(lowerlimit, jointName, "LowerLimit_[encoderTicks]");
configfile->readInto(upperlimit, jointName, "UpperLimit_[encoderTicks]");
configfile->readInto(inverted, jointName, "InverseMovementDirection");
if(inverted){
minEncoderValue.encoderTicks = lowerlimit + 1000;
}else{
minEncoderValue.encoderTicks = upperlimit - 1000;
}
jLimits.setParameter(lowerlimit, upperlimit, true);
joints[i].setConfigurationParameter(jLimits);
// joints[i].setData(minEncoderValue);
}
// Bouml preserved body end 000A9C71
}
