Merge branch 'master' into devel

Author: pattacini

iCubGenova07/calibrators/face-calib.xml

@@ -19,16 +19,16 @@
         <!-- joint logical number                      0              -->
         <!-- joint name                                eyelids    -->        
         <group name="CALIBRATION">
-            <param name="calibrationType">              12              </param>
-            <param name="calibration1">                 17532          </param> 
+            <param name="calibrationType">              12             </param>
+            <param name="calibration1">                -16500          </param> 
             <param name="calibration2">                 0              </param> 
-            <param name="calibration3">                 0             </param>
+            <param name="calibration3">                 0              </param>
 
             <param name="calibration4">                0              </param>
             <param name="calibration5">                0              </param>
 
             <param name="calibrationZero">            0         </param>
-            <param name="calibrationDelta">           -65           </param>
+            <param name="calibrationDelta">           0         </param>
 
             <param name="startupPosition">             0              </param> 
             <param name="startupVelocity">             10             </param> 

iCubGenova07/hardware/motorControl/face-eb22-j0-mc.xml

@@ -47,9 +47,9 @@
         <param name="outputType">               pwm             </param>
         <param name="fbkControlUnits">          metric_units    </param>
         <param name="outputControlUnits">       machine_units   </param>
-        <param name="kp">                       +1200.00            </param>
+        <param name="kp">                       +600.00             </param>
         <param name="kd">                       0.0                 </param>
-        <param name="ki">                       0.0                 </param>
+        <param name="ki">                       100.0               </param>
         <param name="maxOutput">                3360                </param>
         <param name="maxInt">                   3360                </param>
         <param name="stictionUp">               0                   </param>

iCubGenova07/hardware/motorControl/face-eb22-j0-mc_service.xml

@@ -23,7 +23,7 @@
 
                 <group name="ENCODER1">  
                     <param name="type">         aea                 </param>  
-                    <param name="port">         CONN:P10            </param>
+                    <param name="port">         CONN:P11            </param>
                     <param name="position">     atjoint             </param> 
                     <param name="resolution">   -4096               </param>
                     <param name="tolerance">    0.703               </param>