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Merge pull request #87 from nasa-jpl/apb-rename-actuator-classes
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Rename actuator classes
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@alex-brinkman
alex-brinkman authored Apr 5, 2023
2 parents c2e769e + 16bc99b commit 90129a4
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122 changes: 98 additions & 24 deletions doc/fastcat_device_config_parameters.md
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Expand Up @@ -4,19 +4,20 @@

For every `JSD Device` there is an `Offline Device` to emulate the behavior of the hardware.

| Name | Manufacturer | Description |
| -------- | ------------ | ----------------------------------- |
| Actuator | Elmo | EGD with extra features |
| Egd | Elmo | Elmo Gold Drive line of controllers |
| El3208 | Beckhoff | 8-channel RTD Input |
| El3162 | Beckhoff | 2-channel 0-10v SE Analog Input |
| El3602 | Beckhoff | 2-channel +/-10v Diff. Analog Input |
| El2124 | Beckhoff | 4-channel 5v Digital Output |
| El4102 | Beckhoff | 2-channel 0-10v Analog Output |
| Ild1900 | Micro-Epsilon | Distance Laser Sensor |
| AtiFts | ATI | Force-Torque Sensor |
| JED0101 | JPL | JPL EtherCAT Device 0101 - EELS |
| JED0200 | JPL | JPL EtherCAT Device 0200 - SAEL |
| Name | Manufacturer | Description |
| ---------------- | ------------- | ----------------------------------------- |
| PlatinumActuator | Elmo | Elmo Platinum derived Actuator controller |
| GoldActuator | Elmo | Elmo Gold derived Actuator controller |
| Egd | Elmo | Elmo Gold Drive |
| El3208 | Beckhoff | 8-channel RTD Input |
| El3162 | Beckhoff | 2-channel 0-10v SE Analog Input |
| El3602 | Beckhoff | 2-channel +/-10v Diff. Analog Input |
| El2124 | Beckhoff | 4-channel 5v Digital Output |
| El4102 | Beckhoff | 2-channel 0-10v Analog Output |
| Ild1900 | Micro-Epsilon | Distance Laser Sensor |
| AtiFts | ATI | Force-Torque Sensor |
| JED0101 | JPL | JPL EtherCAT Device 0101 - EELS |
| JED0200 | JPL | JPL EtherCAT Device 0200 - SAEL |

**Fastcat Devices**

Expand Down Expand Up @@ -164,7 +165,11 @@ These two parameters, `device_class` and `name`, are not explicitly covered in t

## JSD and Offline Device Parameters

## Actuator
## GoldActuator and PlatinumActuator

Care was taken to ensure the Gold and Platinum device configuration parameters are shared between these two device drivers.

Note: the `egd_` suffix was changed to `elmo_` in `v0.12.0`

Engineering Units (EU) are radians for revolute actuators and meters for linear actuators.

Expand All @@ -187,10 +192,10 @@ Engineering Units (EU) are radians for revolute actuators and meters for linear
| `high_pos_cal_limit_eu` | Upper Position Limit typically corresponding to a hardstop. Used for Calibration Command |
| `high_pos_cmd_limit_eu` | Highest allowable command position value |
| `holding_duration_sec` | Duration to hold position after reset or after a motion command before re-engaging brakes |
| `egd_brake_engage_msec` | How long it takes to re-engage the brakes |
| `egd_brake_disengage_msec` | How long it takes to disengaged the brakes |
| `egd_crc` | CRC of the flashed Elmo parameter set |
| `egd_drive_max_current_limit` | The Maximum drive current for the Elmo Gold Drive |
| `elmo_brake_engage_msec` | How long it takes to re-engage the brakes |
| `elmo_brake_disengage_msec` | How long it takes to disengaged the brakes |
| `elmo_crc` | CRC of the flashed Elmo parameter set |
| `elmo_drive_max_current_limit` | The fixed, maximum drive current for the Elmo Drive |
| `smooth_factor` | Affects controller smoothing, defaults to `0` |
| `winding_resistance` | OPTIONAL: Winding resistance of motor for optional power calculation |
| `torque_constant` | OPTIONAL: Torque constant of motor for optional power calculation |
Expand All @@ -212,7 +217,7 @@ Engineering Units (EU) are radians for revolute actuators and meters for linear
### Example

``` yaml
- device_class: Actuator
- device_class: PlatinumActuator #or GoldActuator
name: tool
actuator_type: revolute # eu = radians
gear_ratio: 19
Expand All @@ -231,16 +236,85 @@ Engineering Units (EU) are radians for revolute actuators and meters for linear
high_pos_cmd_limit_eu: 1e15
high_pos_cal_limit_eu: 1e15
holding_duration_sec: 5.0
egd_brake_engage_msec: 10
egd_brake_disengage_msec: 10
egd_crc: -3260
egd_drive_max_current_limit: 10
elmo_brake_engage_msec: 10
elmo_brake_disengage_msec: 10
elmo_crc: -3260
elmo_drive_max_current_limit: 10
smooth_factor: 0
```



## Egd (Elmo Gold Drive) TODO
## Egd (Elmo Gold Drive)

This is a thin wrapper around the JSD EGD device. This does not have fastcat-side profiling nor any notion of gear ratio so the drive must be commanded in encoder counts.

| Parameter | Description |
| -------------------------------- | ------------------------------------------------------------ |
| `cs_cmd_freq_hz` | The Target loop rate to command the drive in {CSP, CSV, CST} modes |
| `drive_cmd_mode` | Either `CS` or `PROFILED` see notes below for more details |
| `max_motor_speed` | Maximum speed this drive may be commanded in counts/sec |
| `torque_slope` | Rate to apply torque in certain profiled torque command modes |
| `max_profile_accel` | ELMO-side profiler acceleration in counts/sec |
| `max_profile_decel` | ELMO-side profiler deceleration in counts/sec |
| `velocity_tracking_error` | ELMO-side velocity tracking error in counts/sec |
| `position_tracking_error` | ELMO-side position tracking error in counts |
| `peak_current_limit` | Peak instantaneous current in Amp |
| `peak_current_time` | Max apply duration of Peak current before dropping down to Max Continuous current |
| `continuous_current_limit` | Max continuously supplied current permitted to actuator |
| `motor_stuck_current_level_pct` | See Elmo docs for details on this feature, `0` disables|
| `motor_stuck_velocity_threshold` | See Elmo docs for details on this feature, `0` disables|
| `motor_stuck_timeout` | See Elmo docs for details on this feature |
| `over_speed_threshold` | High motor speed used for overspeed violations in counts/sec |
| `low_position_limit` | Lower position the drive can move to in position mode, in counts |
| `high_position_limit` | Upper position the drive can move to in position mode, in counts|
| `brake_enage_msec` | How long it takes to re-engage the brake |
| `brake_disengage_msec` | How long it takes to disengage the brake |
| `crc` | CRC of the flashed parameter set |
| `drive_max_current_limit` | The fixed, Maximum drive current for the EGD |

`drive_cmd_mode` controls the structure of the Process Data Objects (PDO) exchanged with the device during nominal runtime. The Gold Drive has a fixed limit on the size of the PDO which means that it cannot support all DS-402 commands in the same configuration (in the preferred manner we like to use the drive anyways).
The Elmo Platinum Drive does not have this PDO limitation so it will accept all 6 command modes.

`drive_cmd_mode: PROFILED` means that ONLY profiled commands are accepted:
- `egd_prof_pos`
- `egd_prof_vel`
- `egd_prof_torque`

`drive_cmd_mode: CS` means that ONLY Cyclic-Synchronous commands are accepted:
- `egd_csp`
- `egd_csv`
- `egd_cst`

Note: the `GoldActuator` device uses the `Egd` device in `CS` mode. Profiled commands like `ACTUATOR_PROF_POS` are implemented with fastcat-side profiling.



``` yaml
- device_class: Egd
name: egd_1
cs_cmd_freq_hz: 100
drive_cmd_mode: PROFILED
max_motor_speed: 50000
torque_slope: 0.25
max_profile_accel: 50000
max_profile_decel: 50000
velocity_tracking_error: 10000000
position_tracking_error: 100000000
peak_current_limit: 1.5
peak_current_time: 0.5
continuous_current_limit: 1.0
motor_stuck_current_level_pct: 0
motor_stuck_velocity_threshold: 0
motor_stuck_timeout: 1.0
over_speed_threshold: 100000
low_position_limit: 0
high_position_limit: 0
brake_engage_msec: 0
brake_disengage_msec: 0
crc: 0
drive_max_current_limit: 5
```



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37 changes: 31 additions & 6 deletions example_configs/one_of_every_device_offline.yaml
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Expand Up @@ -34,8 +34,8 @@ buses:
crc: 0
drive_max_current_limit: 5

- device_class: Actuator
name: act_1
- device_class: GoldActuator
name: gold_act_1
actuator_type: revolute # revolute: eu = radians
gear_ratio: 100
counts_per_rev: 500
Expand All @@ -53,10 +53,35 @@ buses:
high_pos_cmd_limit_eu: 3.14159
high_pos_cal_limit_eu: 3.2
holding_duration_sec: 3.0 # chosen arbitrarily
egd_brake_engage_msec: 500
egd_brake_disengage_msec: 1000
egd_crc: 12345
egd_drive_max_current_limit: 10 # amps
elmo_brake_engage_msec: 500
elmo_brake_disengage_msec: 1000
elmo_crc: 12345
elmo_drive_max_current_limit: 10 # amps
smooth_factor: 0 # default value is 0

- device_class: PlatinumActuator
name: plat_act_1
actuator_type: revolute # revolute: eu = radians
gear_ratio: 100
counts_per_rev: 500
max_speed_eu_per_sec: 10 #rad/sec
max_accel_eu_per_sec2: 30 #rad/sec/sec
over_speed_multiplier: 2
vel_tracking_error_eu_per_sec: 1000 # chosen arbitrarily
pos_tracking_error_eu: 1000 # chosen arbitrarily
peak_current_limit_amps: 10
peak_current_time_sec: 3.0 # chosen arbitrarily
continuous_current_limit_amps: 5
torque_slope_amps_per_sec: 0.5 # amps/sec; chosen arbitrarily
low_pos_cal_limit_eu: -3.2
low_pos_cmd_limit_eu: -3.14159
high_pos_cmd_limit_eu: 3.14159
high_pos_cal_limit_eu: 3.2
holding_duration_sec: 3.0 # chosen arbitrarily
elmo_brake_engage_msec: 500
elmo_brake_disengage_msec: 1000
elmo_crc: 12345
elmo_drive_max_current_limit: 10 # amps
smooth_factor: 0 # default value is 0

- device_class: El2124
Expand Down
14 changes: 7 additions & 7 deletions src/CMakeLists.txt
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Expand Up @@ -67,11 +67,10 @@ add_library(fastcat STATIC
transform_utils.cc

jsd/jsd_device_base.cc

jsd/actuator.cc
jsd/actuator_fsm_helpers.cc
jsd/egd_actuator.cc
jsd/epd_actuator.cc

jsd/ati_fts.cc
jsd/egd.cc
jsd/el3208.cc
jsd/el3602.cc
Expand All @@ -81,12 +80,13 @@ add_library(fastcat STATIC
jsd/el3104.cc
jsd/el3202.cc
jsd/el3318.cc
jsd/gold_actuator.cc
jsd/ild1900.cc
jsd/jed0101.cc
jsd/jed0200.cc
jsd/ati_fts.cc
jsd/platinum_actuator.cc

jsd/egd_actuator_offline.cc
jsd/ati_fts_offline.cc
jsd/egd_offline.cc
jsd/el2124_offline.cc
jsd/el4102_offline.cc
Expand All @@ -96,11 +96,11 @@ add_library(fastcat STATIC
jsd/el3104_offline.cc
jsd/el3202_offline.cc
jsd/el3318_offline.cc
jsd/epd_actuator_offline.cc
jsd/ild1900_offline.cc
jsd/gold_actuator_offline.cc
jsd/jed0101_offline.cc
jsd/jed0200_offline.cc
jsd/ati_fts_offline.cc
jsd/platinum_actuator_offline.cc

${CMAKE_BINARY_DIR}/fastcat/autogen/fastcat_devices/commander.cc
fastcat_devices/signal_generator.cc
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4 changes: 2 additions & 2 deletions src/fcgen/fastcat_types.yaml
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Expand Up @@ -76,7 +76,7 @@ states:
- name: tared_tz
type: double

- name: egd_actuator
- name: gold_actuator
fields:
- name: actual_position
type: double
Expand Down Expand Up @@ -130,7 +130,7 @@ states:
- name: power
type: double

- name: epd_actuator
- name: platinum_actuator
fields:
- name: actual_position
type: double
Expand Down
32 changes: 16 additions & 16 deletions src/jsd/actuator.cc
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Expand Up @@ -673,14 +673,14 @@ std::string fastcat::Actuator::GetFastcatFaultCodeAsString(
{
std::string fault_str;

if (state.type == EGD_ACTUATOR_STATE || state.type == EPD_ACTUATOR_STATE) {
if (state.type == GOLD_ACTUATOR_STATE || state.type == PLATINUM_ACTUATOR_STATE) {
ActuatorFastcatFault fault;
if (state.type == EGD_ACTUATOR_STATE) {
if (state.type == GOLD_ACTUATOR_STATE) {
fault = static_cast<ActuatorFastcatFault>(
state.egd_actuator_state.fastcat_fault_code);
state.gold_actuator_state.fastcat_fault_code);
} else {
fault = static_cast<ActuatorFastcatFault>(
state.epd_actuator_state.fastcat_fault_code);
state.platinum_actuator_state.fastcat_fault_code);
}

switch (fault) {
Expand Down Expand Up @@ -731,13 +731,13 @@ std::string fastcat::Actuator::GetJSDFaultCodeAsString(const DeviceState& state)
{
std::string fault_str;

if (state.type == EGD_ACTUATOR_STATE) {
if (state.type == GOLD_ACTUATOR_STATE) {
auto fault = static_cast<jsd_egd_fault_code_t>(
state.egd_actuator_state.jsd_fault_code);
state.gold_actuator_state.jsd_fault_code);
fault_str = std::string(jsd_egd_fault_code_to_string(fault));
} else if (state.type == EPD_ACTUATOR_STATE) {
} else if (state.type == PLATINUM_ACTUATOR_STATE) {
auto fault = static_cast<jsd_epd_fault_code_t>(
state.epd_actuator_state.jsd_fault_code);
state.platinum_actuator_state.jsd_fault_code);
fault_str = std::string(jsd_epd_fault_code_to_string(fault));
} else {
fault_str = "State is not an Elmo actuator type.";
Expand All @@ -750,12 +750,12 @@ bool fastcat::Actuator::IsJsdFaultCodePresent(const DeviceState& state)
{
bool fault_present = false;

if (state.type == EGD_ACTUATOR_STATE) {
if (state.egd_actuator_state.jsd_fault_code != JSD_EGD_FAULT_OKAY) {
if (state.type == GOLD_ACTUATOR_STATE) {
if (state.gold_actuator_state.jsd_fault_code != JSD_EGD_FAULT_OKAY) {
fault_present = true;
}
} else if (state.type == EPD_ACTUATOR_STATE) {
if (state.epd_actuator_state.jsd_fault_code != JSD_EPD_FAULT_OKAY) {
} else if (state.type == PLATINUM_ACTUATOR_STATE) {
if (state.platinum_actuator_state.jsd_fault_code != JSD_EPD_FAULT_OKAY) {
fault_present = true;
}
} else {
Expand All @@ -771,10 +771,10 @@ bool fastcat::Actuator::IsJsdFaultCodePresent(const DeviceState& state)
double fastcat::Actuator::GetActualPosition(const DeviceState& state)
{
double actual_position;
if (state.type == EGD_ACTUATOR_STATE) {
actual_position = state.egd_actuator_state.actual_position;
} else if (state.type == EPD_ACTUATOR_STATE) {
actual_position = state.epd_actuator_state.actual_position;
if (state.type == GOLD_ACTUATOR_STATE) {
actual_position = state.gold_actuator_state.actual_position;
} else if (state.type == PLATINUM_ACTUATOR_STATE) {
actual_position = state.platinum_actuator_state.actual_position;
} else {
ERROR(
"GetActualPosition must be called on states of Elmo actuator "
Expand Down
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