Initial testing of Paexo

robotology · Jul 6, 2021 · f7b5e29 · f7b5e29
1 parent fbcc188
commit f7b5e29
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 12 deletions.
diff --git a/devices/Paexo/conf/Paexo.xml b/devices/Paexo/conf/Paexo.xml
@@ -7,7 +7,7 @@
     <device type="serialport" name="SerialportDevice">
         <param name="verbose"> 0 </param>
         <!--param name="comport"> COM2 </param-->        <!--  //windows     -->
-        <param name="comport">  /dev/ttyACM2 </param>   <!--    //linux     -->
+        <param name="comport">  /dev/ttyACM0 </param>   <!--    //linux     -->
         <param name="baudrate"> 115200 </param>
         <param name="xonlim"> 0 </param>
         <param name="xofflim"> 0 </param>
@@ -72,9 +72,9 @@
         <action phase="shutdown" level="4" type="detach"/>
     </device>
 
-    <!-- <device type="iwear_logger" name="ProducerLoggerDevice">
+    <device type="iwear_logger" name="ProducerLoggerDevice">
         <param name="period">0.01</param>
-
+        <param name="LoggerLevel">(yarp)</param>
         <param name="logAllQuantities">true</param>
         <param name="logAccelerometers">false</param>
         <param name="logEMGSensors">false</param>
@@ -107,6 +107,6 @@
             </paramlist>
         </action>
         <action phase="shutdown" level="5" type="detach"/>
-    </device> -->
+    </device>
 
 </robot>
diff --git a/devices/Paexo/conf/paexo-validation-motor-control.sh b/devices/Paexo/conf/paexo-validation-motor-control.sh
@@ -1,15 +1,15 @@
 #!/bin/bash
 # set n to 1
-min_motor_pos=27
-max_motor_pos=55
+min_motor_pos=30
+max_motor_pos=50
 step_size=2
 
 ## Paexo initialization
 echo "start" | yarp rpc /wearable/paexo/rpc:i
 sleep 0.5
 echo "en_bc_data" | yarp rpc /wearable/paexo/rpc:i
 sleep 0.5
-echo "init:r" | yarp rpc /wearable/paexo/rpc:i
+echo "init:l" | yarp rpc /wearable/paexo/rpc:i
 
 # Set max position as initial motor position
 current_pos=${max_motor_pos}
@@ -19,6 +19,6 @@ while [ ${min_motor_pos} -le ${current_pos} ]
 do
 	read -s -n1 key
 	#sleep 0.1
-  echo "move:r:${current_pos}" | yarp rpc /wearable/paexo/rpc:i
+  echo "move:l:${current_pos}" | yarp rpc /wearable/paexo/rpc:i
   current_pos=$((current_pos - step_size))
 done
diff --git a/devices/Paexo/test-application/paexo-test-application.cpp b/devices/Paexo/test-application/paexo-test-application.cpp
@@ -15,9 +15,9 @@
 
 #include <thrift/WearableActuatorCommand.h>
 
-#define MIN_MOTOR_POSITION 27
-#define MAX_MOTOR_POSITION 55
-#define MOTOR_STEP_SIZE 0.5 //Could go as low as 0.2
+#define MIN_MOTOR_POSITION 30
+#define MAX_MOTOR_POSITION 50
+#define MOTOR_STEP_SIZE 2 //Could go as low as 0.2
 using namespace yarp::os;
 using namespace wearable;
 using YarpBufferedPort = yarp::os::BufferedPort<yarp::os::Bottle>;
@@ -112,7 +112,7 @@ int main() {
 
                 port->write(true);
 
-                Time::delay(0.1);
+                Time::delay(0.5);
 
                 current_motor_position += MOTOR_STEP_SIZE;
             }