LuGre friction model parameters added to ETH protocol (#99)

Co-authored-by: marco.accame <[email protected]>
robotology · Jan 9, 2025 · c6be593 · c6be593
1 parent 2e69b4e
commit c6be593
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Showing 2 changed files with 19 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,8 +5,7 @@
 
 cmake_minimum_required(VERSION 3.12)
 
-project(icub_firmware_shared
-        VERSION 1.41.1)
+project(icub_firmware_shared VERSION 1.41.2)
 
 find_package(YCM 0.11.0 REQUIRED)
 

diff --git a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
@@ -692,6 +692,21 @@ typedef struct              // size is 1+3+8+0 = 12
     eOmc_setpoint_data_t    to;
 } eOmc_setpoint_t;          EO_VERIFYsizeof(eOmc_setpoint_t, 12)
 
+typedef struct
+{
+    float Km;
+    float Kw;
+    float S0; 
+    float S1;
+    float Vth;
+    float Fc_pos;
+    float Fc_neg;
+    float Fs_pos;
+    float Fs_neg;
+} eOmc_LuGre_params_t;  EO_VERIFYsizeof(eOmc_LuGre_params_t, 36)
+
+// -- all the possible data holding structures used in a LuGre frction model
+
 typedef struct
 {
     float                   bemf_value;
@@ -704,7 +719,6 @@ typedef struct
 
 // -- all the possible data holding structures used in a motor
 
-
 typedef struct
 {
     uint16_t tresh;         /**< Current threshold  */
@@ -1017,7 +1031,8 @@ typedef struct                  // size is: 40+40+4+4+4+6+2+1+1+1+1+4+2+2+8 = 12
     eOmeas_pwm_t                    pwmLimit;                   /**< the pwm limit of the motor */
     eOmeas_temperature_t            temperatureLimit;           /**< the motor temperature limit */
     eOmeas_position_limits_t        limitsofrotor;              /**< rotor limits */
-} eOmc_motor_config_t;              EO_VERIFYsizeof(eOmc_motor_config_t, 120);
+    eOmc_LuGre_params_t             LuGre_params;               /**< the LuGre friction model parameters */
+} eOmc_motor_config_t;              EO_VERIFYsizeof(eOmc_motor_config_t, 156);
 
 
 
@@ -1054,7 +1069,7 @@ typedef struct                  // size is 120+24+0 = 144
 {
     eOmc_motor_config_t         config;                     /**< the configuration of the motor */
     eOmc_motor_status_t         status;                     /**< the status of the motor */   
-} eOmc_motor_t;                 EO_VERIFYsizeof(eOmc_motor_t, 144);
+} eOmc_motor_t;                 EO_VERIFYsizeof(eOmc_motor_t, 180);
 
 
 // -- the definition of a controller containing a given number of joints and motors