Arm Parameters Programmer Notes

 Application Name:

 <>armParam

Left Arm = LarmParam
Right Arm = RarmParam
Grapple Arm = GarmParam
Video Arm = VarmParam
Left 8DOF Arm = Larm8Param
Right 8DOF Arm = Rarm8Param

 Development Path:

 ACS/armCS/param

 Wm_appl =

 <>1

Left Arm = 31
Right Arm = 41
Grapple Arm = 51
Video Arm = 61
Left 8DOF Arm = 81
Right 8DOF Arm = 91

 Wm_winNum =

 1

Contents

Form Information
<> Arm Joint Parameters = armParam

Form Infomation


Wm_form[1] = armParam
Label = "<> Arm Joint Parmeters"
eg. Left Arm Joint Parmeters, Right Arm Joint Parmeters, Grapple Arm Joint Parmeters, Video Arm Joint Parmeters, Left 8DOF Arm Joint Parmeters, Right 8DOF Arm Joint Parmeters

Objects

cac_CmdObj
[1] Command Authority Button -> cmdCB(0)
 
armParamSysObj
[0] File Menu button -> wm_fileMenuButtonCB(0)
[2] Display Menu Button -> wm_displayMenuButtonCB(0)
 
armParamChoiceObj
[1] Absolute Option Menu (Binary/Decimal/Hexadecimal) -> ap_ChoiceCB(23)
[2] Gains Option Menu (Read/Write Gains) -> ap_ChoiceCB(31)
 
armParamChoice1Obj
[1] Local Processors Option Menu (Derived/Raw) -> ap_ChoiceCB(11)
[2] Temperature Option Menu (Derived/Raw) -> ap_ChoiceCB(12)
 
armParamChoice2Obj
[1] Incremental Option Menu (Decimal/Hexadecimal) -> ap_ChoiceCB(21)
[2] Actual Current Option Menu (Decimal/Hexadecimal) -> ap_ChoiceCB(22)
 
armParamLabelObj
[1] Jt
[2] Jt
[3] Enable
[4] Gains
[5] Maximum
[30-39] Number Joint Angle from 0-9
[40-49] Number Joint Angle from 0-9
[50-59] Number Joint Angle from 0-9
[60-69] Number Joint Angle from 0-9
 
armParamCmdObj
[1] Master Enable Button -> ap_enableCB(-1)
[2] Master Reset Button -> ap_resetCB(-1)
[3] Send Parameters Button -> ap_sendCB(0)
 
armParamCmd1Obj
[0-9] Enable Buttons -> ap_enableCB(i)
where i is the id of the joint
 
armParamCmd2Obj
[0-9] Kp Inputs
where i is the id of the joint
 
armParamCmd3Obj
[0-9] Kd Inputs
where i is the id of the joint
 
armParamCmd4Obj
[0-9] Vel Inputs
where i is the id of the joint
 
armParamCmd5Obj
[0-9] Acc Inputs
where i is the id of the joint
 
armParamCmd6Obj
[0-9] DS Param Inputs
where i is the id of the joint
 
armParamCmd7Obj
[0-9] Reset Buttons -> ap_resetCB(i)
where i is the id of the joint
 
armParamCmd8Obj
[0-9] Inc Offset buttons -> ap_offsetCb(i)
where i is the id of the joint
 
armParamTelObj
None
 
armParamTel1Obj
[0-9] 24V Inputs
where i is the id of the processor
 
armParamTel2Obj
[0-9] +15V Inputs
where i is the id of the processor
 
armParamTel3Obj
[0-9] -15V Inputs
where i is the id of the processor
 
armParamTel4Obj
[0-9] 5V Inputs
where i is the id of the processor
 
armParamTel5Obj
[0-9] Absolute Degrees Inputs
where i is the id of the joint
 
armParamTel6Obj
[0-9] Absolute Raw Inputs
where i is the id of the joint
 
armParamTel7Obj
[0-9] Incremental Encoder Counts Inputs
where i is the id of the joint
 
armParamTel8Obj
[0-9] Incremental Offset Actual Inputs
where i is the id of the joint
 
armParamTel9Obj
[0-9] Current D/A Inputs
where i is the id of the joint
 
armParamTel10Obj
[0-9] Current Mosfet Inputs
where i is the id of the joint
 
armParamTel11Obj
[0-9] Temperature Mostfet Inputs
where i is the id of the joint
 
armParamTel12Obj
[0-9] Temperature Motor Inputs
where i is the id of the joint
 
Menus
DRChoice1
Derived -> ap_derivedCB(i)
where i is the id of the joint
Raw -> ap_rawCB(i)
where i is the id of the joint
 
DHChoice1
Decimal -> ap_decCB(i)
where i is the id of the joint
Hexadecimal -> ap_hexCB(i)
where i is the id of the joint
 
BDHChoice
Decimal -> ap_decCB(i)
where i is the id of the joint
Hexadecimal -> ap_hexCB(i)
where i is the id of the joint
Binary -> ap_binCB(i)
where i is the id of the joint
 
RWChoice
Read Gains -> ap_readWriteCB(1)
Write Gains -> ap_readWriteCB(2)