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btutil_paramDefaults.h
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// Taken from btclient/src/btutil/main.c
/*************************************************************************
* Copyright (C) 2003-2008 Barrett Technology, Inc. <[email protected]>
* 625 Mount Auburn St
* Cambridge, MA 02138, USA
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY BARRETT TECHNOLOGY, INC AND CONTRIBUTORS
* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BARRETT
* TECHNOLOGY, INC OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
* USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* The views and conclusions contained in the software and documentation
* are those of the authors and should not be interpreted as representing
* official policies, either expressed or implied, of Barrett Technology.
* *
* ======================================================================== */
#include <stdio.h>
struct defaultStruct
{
int *key;
long val;
};
struct defaultStruct taterDefs[] =
{
&TIE, 0,
&ACCEL, 100,
&AP, 0,
&CT, 4096,
&OT, 0,
&CTS, 4096,
&DP, 0,
&MV, 100,
&MCV, 100,
&MOV, 100,
&OT, 0,
&HOLD, 0,
&TSTOP, 0,
&OTEMP, 60,
&PTEMP, 0,
&_DS, -256,
&KP, 2000,
&KD, 8000,
&KI, 0,
NULL, 0
};
long wamDefaultMT[] = {4860, 4860, 4860, 4320, 3900, 3900, 1600};
struct defaultStruct bh8Defs[] =
{
&TIE, 0,
&ACCEL, 200,
&AP, 0,
&CT, 195e3,
&OT, 0,
&CTS, 4096,
&DP, 45e3,
&MT, 2200,
&MV, 200,
&MCV, 200,
&MOV, 200,
&OT, 0,
&HOLD, 0,
&TSTOP, 50,
&OTEMP, 60,
&PTEMP, 0,
&POLES, 6,
&IKI, 204,
&IKP, 500,
&IKCOR, 102,
&IOFF, 0,
&IVEL, -75,
&_DS, 25600,
&KP, 500,
&KD, 2500,
&KI, 0,
&IPNM, 20000,
&HSG, 0,
&LSG, 0,
&GRPA, 0,
&GRPB, 7,
&GRPC, 5,
NULL, 0
};
struct defaultStruct wraptorDefs[] =
{
&TIE, 0,
&ACCEL, 100,
&AP, 0,
&CT, 750,
&CTS, 4096,
&DP, 0,
&MT, 990,
&MV, 1500,
&MCV, 1500,
&MOV, 1500,
&DP, 0,
&OT, 0,
&CT, 1E6,
&_DS, 2560,
&KP, 2000,
&KD, 8000,
&KI, 0,
&IKP, 4096,
&IKI, 819,
&IKCOR, 819,
&GRPA, 0,
&GRPB, 1,
&GRPC, 4,
&POLES, 6,
&IPNM, 20000,
NULL, 0
};
struct defaultStruct safetyDefs[] =
{
&TIE, 0,
&VOLTL1, 36,
&VOLTL2, 30,
&VOLTH1, 54,
&VOLTH2, 57,
&GRPA, 1,
&GRPB, 2,
&GRPC, 3,
NULL, 0
};
void paramDefaults(int newID,int targID)
{
int i;
long vers, role;
wakePuck(0,newID);
getProperty(0, newID, VERS, &vers);
initPropertyDefs(vers);
getProperty(0, newID, ROLE, &role);
switch(role & 0x001F){
case ROLE_TATER:
case ROLE_BHAND:
if(targID >= 1 && targID <= 7) { // WAM pucks
for(i = 0; taterDefs[i].key; i++){
setPropertySlow(0, newID, *taterDefs[i].key, 1, taterDefs[i].val);
}
setPropertySlow(0, newID, MT, 1, wamDefaultMT[targID-1]);
}
//if(role & 0x0100)
// setPropertySlow(0, newID, CTS, 0, 4096);
if(targID <= 4) { //4DOF
setPropertySlow(0,newID,IKCOR,1,1638);
setPropertySlow(0,newID,IKP,1,8192);
setPropertySlow(0,newID,IKI,1,3276);
setPropertySlow(0,newID,IPNM,1,2700); //2755);
//setPropertySlow(0,newID,IPNM,0,2562);//2755);
setPropertySlow(0,newID,POLES,1,12);
setPropertySlow(0,newID,GRPA,1,0);
setPropertySlow(0,newID,GRPB,1,1);
setPropertySlow(0,newID,GRPC,1,4);
setPropertySlow(0,newID,JIDX,1,targID);
setPropertySlow(0,newID,PIDX,1,targID);
} else if(targID <= 7) { //Wrist
setPropertySlow(0,newID,IKCOR,1,819);
setPropertySlow(0,newID,IKP,1,4096);
setPropertySlow(0,newID,IKI,1,819);
setPropertySlow(0,newID,GRPA,1,0);
setPropertySlow(0,newID,GRPB,1,2);
setPropertySlow(0,newID,GRPC,1,4);
setPropertySlow(0,newID,JIDX,1,targID);
if(targID != 7) {
// if(1) { // Temp fix for WK Song
setPropertySlow(0,newID,IPNM,1,6500);
//setPropertySlow(0,newID,IPNM,0,4961);
setPropertySlow(0,newID,POLES,1,8);
} else {
setPropertySlow(0,newID,IPNM,1,17474);
setPropertySlow(0,newID,POLES,1,6);
}
setPropertySlow(0,newID,PIDX,1,targID-4);
}
if(targID >= 11 && targID <= 14){ // BH8-280
for(i = 0; bh8Defs[i].key; i++){
setPropertySlow(0, newID, *bh8Defs[i].key, 1, bh8Defs[i].val);
}
setPropertySlow(0,newID,JIDX,0,targID-3);
if(targID == 14) { // Spread on BH8-280
setPropertySlow(0,newID,CT,1,35950);
setPropertySlow(0,newID,DP,1,17975);
setPropertySlow(0,newID,MV,1,50);
setPropertySlow(0,newID,HSG,1,0);
setPropertySlow(0,newID,LSG,1,0);
setPropertySlow(0,newID,HOLD,1,1);
setPropertySlow(0,newID,TSTOP,1,150);
setPropertySlow(0,newID,KP,1,1000);
setPropertySlow(0,newID,KD,1,10000);
}
setPropertySlow(0,newID,PIDX,1,targID-10);
// set IHIT
if (vers >= 175) {
if (targID == 14) {
setPropertySlow(0,newID,108,1, 2200); // spread
} else {
setPropertySlow(0,newID,108,1, 1700); // fingers
}
}
}
break;
case ROLE_SAFETY:
for(i = 0; safetyDefs[i].key; i++){
setPropertySlow(0, newID, *safetyDefs[i].key, 1, safetyDefs[i].val);
}
setPropertySlow(0, newID, SAFE, 0, 4);
setPropertySlow(0, newID, SAFE, 0, 5);
usleep(1000000); // Wait a sec
setPropertySlow(0, newID, FIND, 0, VBUS);
usleep(1000000); // Wait a sec
setPropertySlow(0, newID, SAFE, 0, 0);
break;
case ROLE_WRAPTOR:
for(i = 0; wraptorDefs[i].key; i++){
setPropertySlow(0, newID, *wraptorDefs[i].key, 1, wraptorDefs[i].val);
}
if(targID < 4){
// Set inner link parameters
}else if(targID == 4){
// Set spread puck parameters: KP=1500 KD=KI=0, ACCEL=10, MV=20, DP=18500, CT=37000, HOLD=1
}else if(targID > 4){
// Set outer link parameters
}
break;
default:
break;
}
setPropertySlow(0,newID,SAVE,0,-1); // Save All
/*
else if(targID <= 8) {//Gimbals
setPropertySlow(0,newID,CTS,0,1);
setPropertySlow(0,newID,OFFSET1,0,-11447);
setPropertySlow(0,newID,OFFSET2,0,-19834);
setPropertySlow(0,newID,OFFSET3,0,-12606);
setPropertySlow(0,newID,GAIN1,0,10981);
setPropertySlow(0,newID,GAIN2,0,27566);
setPropertySlow(0,newID,GAIN3,0,26782);
setPropertySlow(0,newID,GRPA,0,0);
setPropertySlow(0,newID,GRPB,0,2);
setPropertySlow(0,newID,GRPC,0,5);
}
*/
}