From 60debe60639bec9e92d8d5be37bc8fdf4c4534ed Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Sun, 21 Apr 2024 18:00:41 +0200
Subject: [PATCH] Reinstate slow wrapper for ergocub head (#647)

---
 ergoCubSN001/ergocub.xml                              |  1 +
 ergoCubSN002/ergocub.xml                              |  1 +
 .../wrappers/motorControl/head-mc-slow_wrapper.xml    | 11 +++++++++++
 3 files changed, 13 insertions(+)
 create mode 100644 ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml

diff --git a/ergoCubSN001/ergocub.xml b/ergoCubSN001/ergocub.xml
index 925786ec6e..4562056718 100644
--- a/ergoCubSN001/ergocub.xml
+++ b/ergoCubSN001/ergocub.xml
@@ -40,6 +40,7 @@
 
     <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" />
 
     <!-- HEAD -->
     <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
diff --git a/ergoCubSN002/ergocub.xml b/ergoCubSN002/ergocub.xml
index 7d5b085673..adec928187 100644
--- a/ergoCubSN002/ergocub.xml
+++ b/ergoCubSN002/ergocub.xml
@@ -40,6 +40,7 @@
 
     <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" />
 
     <!-- HEAD -->
     <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
diff --git a/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml b/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml
new file mode 100644
index 0000000000..eb15193779
--- /dev/null
+++ b/ergoCubSN002/wrappers/motorControl/head-mc-slow_wrapper.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc-slow_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.02  </param>
+    <param name="name"> /ergocub/head_slow   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>