iEcaArm
Both voltage and speed commands are possible, and the type of command used may vary across the actuators. The command variables used are ECA_[JOINT]_VOLTAGE_CMD or ECA_[JOINT]_SPEED_CMD, where [JOINT] can be one of YAW, SHOULDER, ELBOW, WRIST, or GRIP. If a given joint does not receive a command for 0.5 seconds, it will automatically be commanded to stop.
Both voltage and speed commands have a range of 0 to 100, which is automatically mapped to the voltage or speed ranges. Maximum speed is set in the mission file and varies between joints within the range 9000 to 12000.
Sensor output is available on the variables ECA_[JOINT]_SPEED, ECA_[JOINT]_POSITION, ECA_VOLTAGE, and ECA_CURRENT. The current comms rate in hertz is posted to ECA_UPDATE_RATE. Position and speed are in unknown units from the built in encoders. Position may also wrap around between the mechanical hard stops.
iRaftRoboteq
Commands are issued using the variables DESIRED_THRUST_LEFT and DESIRED_THRUST_RIGHT and should be in the range 0 to 100. The command timeout is set by the motor driver's on-board configuration along with other options, such as slew rate limits (acceleration). The ECA arm can be powered on and off by posting 1 or 0 to ECA_ARM_POWER, though this can again be bypassed through the on-board configuration.
Data is reported to the following variables:
ROBOTEQ_BATTERY_VOLTAGE - input voltage
ROBOTEQ_MOTOR_CURRENT_[RIGHT/LEFT] - current through the motor windings
ROBOTEQ_BATTERY_CURRENT_[RIGHT/LEFT] - current from the battery
ROBOTEQ_TEMPERATURE_[RIGHT/LEFT]
ROBOTEQ_ESTOP - estop on or off (1 or 0)
ROBOTEQ_POWER_[LEFT/RIGHT] - actual output to motors, including effects from slew rate (0 to 1000)
Debug variables:
ROBOTEQ_REPORT_RATE - how fast sensor data (specifically power output) is reported in Hz
ROBOTEQ_COMMAND_RATE
ROBOTEQ_NACK_RATE - should be zero
ROBOTEQ_ACK_RATE - should be the same as command rate
pRaftControl
pRaftControl allows the arm and motor controller to be controlled using the xbox 360 controller. Mappings are:
left and right thrust - left and right analog stick y axis
eca arm yaw - dpad x axis
eca arm shoulder - dpad y axis
eca arm elbow - a and buttons
eca arm wrist - left and right trigger
eca arm grip - left and right button
Electrical Details:
Thruster cables run black to top left, white to top right.
Roboteq pinouts:
2: TxOut - green - DB9 pin 2
3: RxIn - blue - DB9 pin 3
4: DIN1 - estop
9: DOUT2 - sink for arm relay control
14: +5v - estop (NC)