Author: dking
Date: 2012-06-24 21:40:15 -0700 (Sun, 24 Jun 2012)
New Revision: 54826
Added:
branches/dking/dkstuff/ft_dev/calibration/wg035_revF_params.yaml
branches/dking/dkstuff/ft_dev/load_ft_params.launch
Log:
Launch file to enable ft and load parameters.
Generic parameters file for WG035 rev F boards.
Added: branches/dking/dkstuff/ft_dev/calibration/wg035_revF_params.yaml
===================================================================
--- branches/dking/dkstuff/ft_dev/calibration/wg035_revF_params.yaml (rev 0)
+++ branches/dking/dkstuff/ft_dev/calibration/wg035_revF_params.yaml 2012-06-25 04:40:15 UTC (rev 54826)
@@ -0,0 +1,22 @@
+# Generic Force/Torque amplifier parameters for WG035 rev F board
+ft_params:
+ # Offset of ADC values, for revF boards assume offsets are 0 and
+ # have software zero data before use
+ offsets:
+ - 0.0
+ - 0.0
+ - 0.0
+ - 0.0
+ - 0.0
+ - 0.0
+ # use ideal gain for each circuit for now
+ # in future, we may calibrate gain of each opamp
+ # ideal gain = 1.0 + (49.4k / Rg)
+ # for circuit Rg = 1.0k
+ gains:
+ - 50.34
+ - 50.34
+ - 50.34
+ - 50.34
+ - 50.34
+ - 50.34
Added: branches/dking/dkstuff/ft_dev/load_ft_params.launch
===================================================================
--- branches/dking/dkstuff/ft_dev/load_ft_params.launch (rev 0)
+++ branches/dking/dkstuff/ft_dev/load_ft_params.launch 2012-06-25 04:40:15 UTC (rev 54826)
@@ -0,0 +1,8 @@
+<launch>
+ <group ns="/realtime_loop/r_gripper_motor/">
+ <param name="enable_ft_sensor" value="True" type="bool"/>
+ <param name="enable_pressure_sensor" value="True" type="bool"/>
+ <rosparam command="load" file="$(find ft_dev)/calibration/ft12396_params.yaml"/>
+ <rosparam command="load" file="$(find ft_dev)/calibration/wg035_revF_params.yaml"/>
+ </group>
+</launch>
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