MotoROS v1.7.0 #191

ted-miller · 2018-01-10T18:06:31Z

Implement velocity feedback for DX200 and YRC1000 controllers.
Remove unneeded validation check from RosSetupValidation.xLib.
Fix starting position check for SLUBT robots.

- Implement velocity feedback for DX200 and YRC1000 controllers. - Remove unneeded validation check from RosSetupValidation.xLib. - Fix starting position check for SLUBT robots.

ted-miller · 2018-01-10T18:07:22Z

Eric Marcil will do additional testing this week.

- On systems with multiple control groups, only one reboot will be required after activating the speed feedback registers. - Fix calculation of speed feedback for linear axis.

ted-miller · 2018-01-15T14:04:31Z

Updated based on testing by Marcil.

gavanderhoorn · 2018-01-15T14:06:53Z

motoman_driver/MotoPlus/Controller.c

@@ -227,7 +227,7 @@ BOOL Ros_Controller_Init(Controller* controller)
 		if(grpNo < controller->numGroup)
 		{
 			// Determine if specific group exists and allocate memory for it
-			controller->ctrlGroups[grpNo] = Ros_CtrlGroup_Create(grpNo, controller->interpolPeriod);
+			controller->ctrlGroups[grpNo] = Ros_CtrlGroup_Create(grpNo, (grpNo==(controller->numGroup-1)), controller->interpolPeriod);


Could this line get a bit more of a comment?

It probably becomes clearer when looking up the declaration of Ros_CtrlGroup_Create(..), but what is the boolean there?

New commit has additional comments.

gavanderhoorn · 2018-01-15T14:08:05Z

motoman_driver/MotoPlus/CtrlGroup.c

-									long pulsePos[MAX_PULSE_AXES]);
-UCHAR Ros_CtrlGroup_GetAxisConfig(CtrlGroup* ctrlGroup);
-BOOL Ros_CtrlGroup_IsRobot(CtrlGroup* ctrlGroup);
-


These have moved to the header?

Previously, they were located in both the header and the source. I removed the duplication.

gavanderhoorn · 2018-01-15T14:14:22Z

motoman_driver/MotoPlus/CtrlGroup.c

-		dblRegister *= ctrlGroup->pulseToRad.PtoR[i]; //pulse/sec
+		if (ctrlGroup->axisType.type[i] == AXIS_ROTATION)
+		{
+			dblRegister /= 10000.0; //deg/sec


Suggestion: use 1e4 (and 1e5 below)?

Or: 1e-4 (and 1e-5) and multiply.

- Add comments for clarity.

- Remove obsolete parameter from the setup-validation library (DX100 only).

gavanderhoorn · 2018-01-18T16:22:22Z

Just tested this on our FS100. No regressions as far as I've tested.

I cannot test velocity reporting, nor the new SLUBT starting position check.

- Fix initialization of curPos and prevPulsePos when using B axis compensation (for SLUBT robots).

ted-miller · 2018-01-22T15:46:40Z

The latest SLUBT update has been tested on a live controller in simulation mode. It has not been tested on physical arm. (But I am very confident that it will be ok.)

gavanderhoorn · 2018-01-23T20:29:24Z

@ted-miller wrote:

tested on a live controller in simulation mode.

you'll have to teach me how to do that one day.

gavanderhoorn

Changes have been tested as best we can, let's iterate on improvements in new PRs.

gavanderhoorn · 2018-01-23T20:32:04Z

I'll wait on Travis to complete and then merge.

💯 @ted-miller: this is a really nice implementation of velocity feedback I believe.

gavanderhoorn · 2018-01-23T20:34:15Z

This would be something for a follow-up PR, but: would there be some way to implement a UI / settings panel of some sorts using MotoPlus? You mentioned in a private email that the implementation of the velocity feedback is quite 'resource intensive' (M-registers) and that it could complicate integration of MotoROS with other jobs on the controller.

Would it be an idea to give users a choice, so that they can disable the feedback if they're not interested in it and avoid the resource usage (which would be unneeded in that case)?

ted-miller · 2018-01-23T21:26:49Z

TM: tested on a live controller in simulation mode.

GH: you'll have to teach me how to do that one day.

Unfortunately, the Yaskawa password is required to reconfigure your controller for a different arm.

ted-miller · 2018-01-23T21:42:09Z

would there be some way to implement a UI / settings panel of some sorts

This is definitely possible. There is an SDK available to develop a custom GUI application on the programming pendant. The development kit is a paid option, but the compiled binary and installer could be posted online.

Let me know if you have some ideas for things that would be good to have configurable, beyond just the velocity feedback. Maybe enable/disable torque feedback? Or display a diagnostic monitor screen? Perhaps display all the controller information that is calculated at startup (max speeds, pulse->radian, etc)?

gavanderhoorn · 2018-01-24T08:42:06Z

@ted-miller: I've opened #193 to discuss the UI.

gavanderhoorn · 2018-01-24T08:42:29Z

TM: tested on a live controller in simulation mode.

GH: you'll have to teach me how to do that one day.

Unfortunately, the Yaskawa password is required to reconfigure your controller for a different arm.

so ... ? ;)

gavanderhoorn · 2018-01-24T10:29:03Z

This is a very nice addition to MotoROS @ted-miller. Thanks for this.

Now all I need to do is find a DX200/YRC1000 somewhere ..

MotoROS v1.7.0

c479adf

- Implement velocity feedback for DX200 and YRC1000 controllers. - Remove unneeded validation check from RosSetupValidation.xLib. - Fix starting position check for SLUBT robots.

MotoROS v1.7.0_Review1

baaf0b5

- On systems with multiple control groups, only one reboot will be required after activating the speed feedback registers. - Fix calculation of speed feedback for linear axis.

gavanderhoorn reviewed Jan 15, 2018

View reviewed changes

ted-miller added 2 commits January 15, 2018 09:30

MotoROS v1.7.0_Review2

db0fcb4

- Add comments for clarity.

MotoROS v1.7.0_Review3

e8ef6b5

- Remove obsolete parameter from the setup-validation library (DX100 only).

MotoROS v1.7.0_Review4

d66aac5

- Fix initialization of curPos and prevPulsePos when using B axis compensation (for SLUBT robots).

gavanderhoorn approved these changes Jan 23, 2018

View reviewed changes

Merge branch 'kinetic-devel' into velocity-feedback

6a87fcc

gavanderhoorn mentioned this pull request Jan 24, 2018

MotoROS: add a (simple) ui on the TP #193

Open

gavanderhoorn merged commit 4b9fd56 into ros-industrial:kinetic-devel Jan 24, 2018

gavanderhoorn mentioned this pull request May 1, 2018

Joint feedback - Velocity and Acceleration #174

Closed

gavanderhoorn mentioned this pull request Oct 12, 2019

driver: don't version VS dbs. #300

Merged

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MotoROS v1.7.0 #191

MotoROS v1.7.0 #191

ted-miller commented Jan 10, 2018

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MotoROS v1.7.0 #191

MotoROS v1.7.0 #191

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