iCubGrenoble01: make the face stream at 1 khz

Author: Nicogene

iCubGrenoble01/hardware/electronics/face-eb22-j0_1-eln.xml

@@ -6,7 +6,7 @@
     <xi:include href="./pc104.xml" />
 
     <group name="ETH_BOARD">
-   
+
         <group name="ETH_BOARD_PROPERTIES">
             <param name="IpAddress">                10.0.1.22               </param>
             <param name="IpPort">                   12345                   </param>
@@ -16,25 +16,25 @@
         </group>
 
         <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "face-eb22-j0_1"        </param> 
+            <param name="Name">                     "face-eb22-j0_1"        </param>
             <group name="RUNNINGMODE">
                 <param name="period">                   1000                </param>
                 <param name="maxTimeOfRXactivity">      400                 </param>
-                <param name="maxTimeOfDOactivity">      300                 </param>   
-                <param name="maxTimeOfTXactivity">      300                 </param>                
-                <param name="TXrateOfRegularROPs">      3                   </param> 
-            </group>              
-        </group>                 
-        
+                <param name="maxTimeOfDOactivity">      300                 </param>
+                <param name="maxTimeOfTXactivity">      300                 </param>
+                <param name="TXrateOfRegularROPs">      1                   </param>
+            </group>
+        </group>
+
         <group name="ETH_BOARD_ACTIONS">
             <group name="MONITOR_ITS_PRESENCE">
-                <param name="enabled">                  true                </param> 
-                <param name="timeout">                  0.020               </param> 
-                <param name="periodOfMissingReport">    60.0                </param> 
+                <param name="enabled">                  true                </param>
+                <param name="timeout">                  0.020               </param>
+                <param name="periodOfMissingReport">    60.0                </param>
             </group>
         </group>
 
-    </group>     
+    </group>
 
 </params>
 

iCubGrenoble01/hardware/electronics/face-eb23-j2_5-eln.xml

@@ -16,25 +16,25 @@
         </group>
 
         <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "face-eb23-j2_5"        </param> 
+            <param name="Name">                     "face-eb23-j2_5"        </param>
             <group name="RUNNINGMODE">
                 <param name="period">                   1000                </param>
                 <param name="maxTimeOfRXactivity">      400                 </param>
-                <param name="maxTimeOfDOactivity">      300                 </param>   
-                <param name="maxTimeOfTXactivity">      300                 </param>                
-                <param name="TXrateOfRegularROPs">      5                   </param> 
-            </group>              
-        </group>                 
-        
+                <param name="maxTimeOfDOactivity">      300                 </param>
+                <param name="maxTimeOfTXactivity">      300                 </param>
+                <param name="TXrateOfRegularROPs">      1                   </param>
+            </group>
+        </group>
+
         <group name="ETH_BOARD_ACTIONS">
             <group name="MONITOR_ITS_PRESENCE">
-                <param name="enabled">                  true                </param> 
-                <param name="timeout">                  0.020               </param> 
-                <param name="periodOfMissingReport">    60.0                </param> 
+                <param name="enabled">                  true                </param>
+                <param name="timeout">                  0.020               </param>
+                <param name="periodOfMissingReport">    60.0                </param>
             </group>
         </group>
 
-    </group>   
+    </group>
 
 </params>
 

iCubGrenoble01/hardware/electronics/pc104.xml

@@ -6,8 +6,8 @@
     <group name="PC104">
         <param name="PC104IpAddress">           10.0.1.104      </param>
         <param name="PC104IpPort">              12345           </param>
-        <param name="PC104TXrate">              1               </param> 
-        <param name="PC104RXrate">              5               </param>
+        <param name="PC104TXrate">              1               </param>
+        <param name="PC104RXrate">              1               </param>
     </group>
 
 </params>

iCubGrenoble01/wrappers/motorControl/face-mc_wrapper.xml

@@ -2,7 +2,7 @@
 <!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="face-mc_nws_yarp" type="controlBoard_nws_yarp">
-    <param name="period"> 0.01  </param>
+    <param name="period"> 0.001  </param>
     <param name="name"> /icub/face   </param>
     <action phase="startup" level="10" type="attach">
             <param name="device">  face-mc_remapper </param>