left_leg-eb6-j0_3-strain.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">



    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-eb6-j0_3-strain" type="embObjFTsensor">

        <xi:include href="../../general.xml"/>

        <xi:include href="../../hardware/electronics/left_leg-eb6-j0_3-eln.xml" />

        <group name="SERVICE">

            <param name="type"> eomn_serv_AS_strain </param>

            <group name="PROPERTIES">

                <group name="CANBOARDS">
                    <param name="type">                 strain2            </param>

                    <group name="PROTOCOL">
                        <param name="major">            2                       </param>
                        <param name="minor">            0                       </param>
                    </group>
                    <group name="FIRMWARE">
                        <param name="major">            2                       </param>
                        <param name="minor">            2                       </param>
                        <param name="build">            0                       </param>
                    </group>
                </group>

                <group name="SENSORS">
                    <param name="id">                   l_leg_ft_sensor   </param>
                    <param name="framename">            l_leg_ft                </param>
                    <param name="type">                 eoas_strain             </param>
                    <param name="location">             CAN2:13                 </param>
                </group>

            </group>

            <group name="SETTINGS">
                <param name="acquisitionRate">          10                      </param>
                <param name="enabledSensors">           l_leg_ft_sensor   </param>
				 <param name="temperature-acquisitionRate"> 1000                  </param> <!-- 1 seconds -->
            </group>

            <group name="STRAIN_SETTINGS">
                <param name="useCalibration">           true                    </param>
            </group>

        </group>

  </device>