Implement new gripper device: qb SoftHand2 Research

PeterBowman commented 11 months ago

RS485 protocol characteristics:

8 bit
no parity
1 stop bit
no flow control
2M baud rate

Power supply: 24VDC with at least 2.5A (60W) and 3.75A overload.

Control modes:

/**
 * @brief Get the control mode parameter
 *
 * @param[out] control_mode
 * - 0 - Classic position control
 * - 1 - Direct PWM value
 * - 2 - Current control
 * - 3 - Position and current control
 * - 4 - Deflection control (only for qbmoves)
 * - 5 - Deflection and current control (only for qbmoves)
 * @return 0 on success, -1 on error 
 */
virtual int getParamControlMode(uint8_t &control_mode);

PeterBowman commented 8 months ago

YARP 3.9 has introduced a new IJointCoupling interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.

jgvictores commented 8 months ago

YARP 3.9 has introduced a new IJointCoupling interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.

If I'm understanding the objective correctly, it's mostly useful for simulation. https://github.com/roboticslab-uc3m/tools/tree/d7f4442d7a9289870ca7dc253fd4c914f435de86/libraries/YarpPlugins/RealToSimControlBoard which is generic could probably benefit from it.

PeterBowman commented 6 months ago

Introducing ControlBoardCouplingHandler (implements IJointCoupling): https://github.com/robotology/yarp/pull/3085.

roboticslab-uc3m / yarp-devices

Implement new gripper device: qb SoftHand2 Research #267