-
Notifications
You must be signed in to change notification settings - Fork 3
/
arm_config.toml
148 lines (135 loc) · 3.08 KB
/
arm_config.toml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
title = "Example robot arm configuration"
# These are the default values, if you set them here they will be used for all joints
# If set again in a joint section, the joint specific value will be used
[joint_configuration]
speed_rad_per_s = 0.35
steps_per_rev_motor_axis = 800 # Microstepping
homing_direction = 1 # 1 or -1
max_angle_rad = 7.0
min_angle_rad = -7.0
conversion_rate_axis_joint = 1.0
homing_offset_rad = 0.0 # Offset from homing position
dir_inverted = 1 # 1 or -1
# Physical parameters of the arm
[arm_parameters]
# J1
a1x= 0
a1y= 0
a1z= 0
# J2
a2x= 0
a2y= 0
a2z= 172.48
# J3
a3x= 0
a3y= 0
a3z= 173.5
# J4
a4x= 126.2
a4y= 0
a4z= 0
# J5
a5x= 64.1
a5y= 0
a5z= 0
# J6
a6x= 169.0
a6z= 0
a6y= 0
# Tool parameters
[tool]
name = "tool"
max_angle_rad = 0.0
min_angle_rad = 0.0
[tool.driver]
type = "servo"
pin = 27
# Joint configuration
[[joints]]
name = "joint_1"
homing_direction = -1 # 1 or -1
conversion_rate_axis_joint = 9.7 # Gear ratio
homing_offset_rad = 0.0 # Offset from home position
speed_rad_per_s = 0.2
[joints.driver]
type = "stepper"
dir_pin = 14
step_pin = 13
# [joints.driver]
# type = "servo"
# pin = 20
[joints.endstop]
type = "none" # none, dummy or hall (hall may work with other sensors)
pin = 26
# [joints.endstop]
# type = "dummy"
[[joints]]
name = "joint_2"
homing_direction = 1
dir_inverted = -1
conversion_rate_axis_joint = 7.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.1
[joints.driver]
type = "stepper"
dir_pin = 5
step_pin = 4
[joints.endstop]
type = "none"
pin = 25
[[joints]]
name = "joint_3"
homing_direction = 1
conversion_rate_axis_joint = 15.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.1
steps_per_rev_motor_axis = 400 # Microstepping
[joints.driver]
type = "stepper"
dir_pin = 16
step_pin = 15
[joints.endstop]
type = "none"
pin = 33
[[joints]]
name = "joint_4"
homing_direction = 1
conversion_rate_axis_joint = 5.0
speed_rad_per_s = 0.3
homing_offset_rad = 0.0
dir_inverted = -1
[joints.driver]
type = "stepper"
dir_pin = 18
step_pin = 17
[joints.endstop]
type = "none"
pin = 32
[[joints]]
name = "joint_5"
homing_direction = 1
conversion_rate_axis_joint = 5.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.4
dir_inverted = -1
[joints.driver]
type = "stepper"
dir_pin = 21
step_pin = 19
[joints.endstop]
type = "none"
pin = 35
[[joints]]
name = "joint_6"
homing_direction = 1
conversion_rate_axis_joint = 1.0
homing_offset_rad = 0.0
dir_inverted = -1
speed_rad_per_s = 0.4
[joints.driver]
type = "stepper"
dir_pin = 23
step_pin = 22
[joints.endstop]
type = "none"
pin = 34