Merge branch 'master' of https://github.com/Roboy/roboy3

missxa · missxa · commit 976ec4e9f604 · 2020-09-08T22:13:47.000+02:00
diff --git a/roboy3.yaml b/roboy3.yaml
@@ -1,53 +1,60 @@
 icebus:
-  number_of_motors: [6,10,10,10,10]
-  update_frequency: [100,100,100,100,100]
+  number_of_motors: [6,10,10,12,10,10]
+  update_frequency: [100,100,100,100,100,100]
   motor_ids:
     - [0,1,2,3,4,5]
     - [0,1,2,3,4,5,6,7,8,9]
     - [0,1,2,3,4,5,6,7,8,9]
+    - [0,1,2,3,4,5,6,7,8,9,10,11]
     - [0,1,2,3,4,5,6,7,8,9]
     - [0,1,2,3,4,5,6,7,8,9]
   baudrate:
     - [2000000,2000000,2000000,2000000,2000000,2000000]
     - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000]
     - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000]
+    - [2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000,2000000]
     - [460800,460800,460800,460800,460800,460800,19200,19200,19200,19200]
     - [460800,460800,460800,460800,460800,460800,19200,19200,19200,19200]
   motor_ids_global:
     - [20,21,22,25,24,23]
     - [7,6,5,4,3,2,1,0,17,16]
     - [8,9,10,11,12,13,14,15,18,19]
+    - [46,47,48,49,50,51,52,53,54,55,56,57]
     - [26,27,28,29,30,31,32,33,34,35]
     - [36,37,38,39,40,41,42,43,44,45]
   bus_ids:
     - [128,129,130,131,132,133]
     - [128,129,130,131,132,133,134,135,136,137]
     - [128,129,130,131,132,133,134,135,136,137]
+    - [128,129,130,131,132,133,134,135,136,137,138,139]
     - [128,129,130,131,132,133,134,135,136,137]
     - [128,129,130,131,132,133,134,135,136,137]
   encoder0_conversion_factor:
     - [1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
+    - [1,1,1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
   encoder1_conversion_factor:
     - [1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
+    - [1,1,1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
     - [1,1,1,1,1,1,1,1,1,1]
   muscle_type:
     - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"]
     - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"]
     - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"]
+    - ["myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick","myoBrick"]
     - ["m3","m3","m3","m3","m3","m3","openBionics","openBionics","openBionics","openBionics"]
     - ["m3","m3","m3","m3","m3","m3","openBionics","openBionics","openBionics","openBionics"]
 myobus:
   number_of_motors: [0]
   update_frequency: [100]
   motor_ids:
-    - [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15]
+    - [7,6,5,4,3,2,1,0,8,9,10,11,12,13,14,15]
   motor_ids_global:
     - [16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31]
   bus_ids:
@@ -67,3 +74,8 @@ body_part:
   name: ["shoulder"]
   motor_ids_global:
     - [0]
+
+elbow:
+  order: [0,1,2,3]
+  sign: [1,1,1,-1]
+  offset: [43.2,82.5,215.9,218.8]
diff --git a/src/common_utilities b/src/common_utilities
@@ -1 +1 @@
-Subproject commit 55afd46e1e322bdbb1f4a00218407298eac95f5e
+Subproject commit 7ba11c3153d28f8f6d57cfbc6463136072bcf35e
diff --git a/src/kindyn b/src/kindyn
@@ -1 +1 @@
-Subproject commit df29a532e3c9ed801e762cef5830e0205009ab26
+Subproject commit 8a0a1eb4c2d942f657526c11d2f5b488c6f048e5
diff --git a/src/robots b/src/robots
@@ -1 +1 @@
-Subproject commit 9275124db96725c4676e407795281cb5de567156
+Subproject commit 1232f5cbe472b390f277f737ff1ea4fc2e14ae7c
diff --git a/src/roboy_communication b/src/roboy_communication
@@ -1 +1 @@
-Subproject commit bb2ead3bc6e27aa1e7743adce68e4bbf2123fd69
+Subproject commit 35c87938ce98f64ece5026d57044e91d95c9c818
diff --git a/src/roboy_control_center b/src/roboy_control_center
@@ -1 +1 @@
-Subproject commit afe6919fdbdc8b8ca31749de425b15f170f843e3
+Subproject commit b41d3b84456f6ba52f7042d0dc35b65299a2c647
diff --git a/src/roboy_motor_calibration/src/roboy_motor_calibration.cpp b/src/roboy_motor_calibration/src/roboy_motor_calibration.cpp
@@ -326,7 +326,7 @@ void RoboyMotorCalibration::estimateMyoMuscleSpringParameters() {
     float setpoint_max = ui.setpoint_max->text().toFloat(), setpoint_min = ui.setpoint_min->text().toFloat();
     int timeout = ui.timeout->text().toInt(), degree = ui.degree->text().toInt(), numberOfDataPoints = ui.data_points->text().toInt();
     roboy_middleware_msgs::MotorCommand msg;
-    msg.motor.push_back(ui.motor->value());
+    msg.global_id.push_back(ui.motor->value());
     ui.progressBar->show();
     ui.progressBar->setMaximum(0);
     ui.progressBar->setMinimum(0);
@@ -429,7 +429,7 @@ void RoboyMotorCalibration::estimateMyoBrickSpringParameters() {
     float setpoint_max = ui.setpoint_max->text().toFloat(), setpoint_min = ui.setpoint_min->text().toFloat();
     int timeout = ui.timeout->text().toInt(), degree = ui.degree->text().toInt(), numberOfDataPoints = ui.data_points->text().toInt();
     roboy_middleware_msgs::MotorCommand msg;
-    msg.motor.push_back(ui.motor->value());
+    msg.global_id.push_back(ui.motor->value());
 
     vector<double> x, y;
 
diff --git a/src/roboy_plexus b/src/roboy_plexus
@@ -1 +1 @@
-Subproject commit 6c6cd3222f037c0470790dfbeee6e803541de30e
+Subproject commit c50ca19a58f7596737caae01a5058ab3bda38aab
