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Tag Archive for simulation

Is this theoritically possible to create a full android device simulator

I want to adjust firmware components, or to have opportunity to test something on an android device. A problem is that usually modern devices prohibit to recover a brick for free.
Theoritically it is possible to program a full device simulator, primary to handle first low level stages (like bootloaders, and possibly boot, recovery, fastboot), not necessary to even program a workable screen and therefore OS, but preferable. A one way i know how to get hardware info is look into /proc using root.
In /proc/iomem there is common device memory map,
In /proc/devtree there is list of hardware components, versions and their base address to interact with,
/proc/devices has list of some unknown devices and /proc/cpuinfo has a list of all cpus with their version. Some additional useful info how that individual device work i think may be found in product documentation.
To find base address of images may be copied a scetter file from firmware and, some additional possibly not needed addresses may be resolved by unpacking boot and recovery.

How do I write a program with two control loops?

I assume this is thoroughly discussed but I don’t have the vocabulary to find it.
I am trying to effectively write a simulation of a device that runs code.
I am interested in writing the simulation using Python or MATLAB, preferably in a single thread.

What is The Best Practice to Simulate and Control Low-Cost Servo Arms in Drake

I am attempting to simulate a servo arm similar to those used in the Aloha kits, which do not have torque control and have a large gear ratio. From my understanding, Drake uses a force-based simulator. With that, simulating these types of arms with high PD gains might lead to numerical instability. Drake perfectly supports torque-based manipulators like Kuka and Franka Panda, but I am uncertain about the best approach for simulating and controlling these more basic servo-based arms, which typically exhibit larger control errors and gear ratios.