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MSECodevalegaggegemini-code-assist[bot]
authored
Update configuration files for ergoCubSN003 (#769)
Co-authored-by: valegagge <[email protected]> Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
1 parent 46aa528 commit 54d3438

23 files changed

+139
-63
lines changed

‎ergoCubSN003/calibrators/left_leg-calib.xml‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,20 +9,20 @@
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</group>
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<group name="HOME">
12-
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
12+
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
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<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
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</group>
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<group name="CALIBRATION">
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<param name="calibrationType"> 10 10 10 10 10 10 </param>
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<param name="calibration1"> -5500 4000 -2500 -5000 4000 -3000 </param>
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<param name="calibrationType"> 12 12 12 12 12 12 </param>
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<param name="calibration1"> 45148 40850 20237 -61593 3450 -53502 </param>
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<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
23-
<param name="calibrationZero"> 109.07 110.848 81.65 7.91 -46.047 25.297 </param>
23+
<param name="calibrationZero"> 0 0 0 0 0 0 </param>
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<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
25-
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
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<param name="startupPosition"> 90 80 0 -95 0 0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
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<param name="startupMaxPwm"> 8000 8000 8000 16000 16000 8000 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>

‎ergoCubSN003/calibrators/right_leg-calib.xml‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -9,23 +9,23 @@
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</group>
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1111
<group name="HOME">
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<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
12+
<param name="positionHome"> 0.00 5.00 0.00 0.00 0.00 0.00 </param>
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<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
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</group>
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<group name="CALIBRATION">
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<param name="calibrationType"> 10 10 10 10 10 10 </param>
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<param name="calibration1"> 5500 -4000 2500 5000 -4000 3000 </param>
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<param name="calibrationType"> 12 12 12 12 12 12 </param>
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<param name="calibration1"> -7726 -19867 -42348 29721 -53211 45573 </param>
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<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration3"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration4"> 0.0 0.0 0 0 0 0 </param>
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<param name="calibration5"> 0.0 0.0 0 0 0 0 </param>
25-
<param name="calibrationZero"> 109.545 111.133 79.808 7.56 -47.272 25.758 </param>
25+
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param> <!-- 109.545 111.133 79.808 7.56 -47.272 25.758-->
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<param name="calibrationDelta"> 0 0 0 0 0 0 </param>
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28-
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
28+
<param name="startupPosition"> 90 80 0 -95 0 0 </param>
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<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
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<param name="startupMaxPwm"> 8000 8000 8000 16000 16000 8000 </param>
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<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>

‎ergoCubSN003/general.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN003" build="1">
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<group name="GENERAL">
7-
<param name="skipCalibration"> false </param>
7+
<param name="skipCalibration"> true </param>
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<param name="useRawEncoderData"> false </param>
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<param name="useLimitedPWM"> false </param>
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<param name="verbose"> false </param>

‎ergoCubSN003/hardware/FT/left_leg-eb8-j0_3-strain.xml‎

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Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
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<group name="SENSORS">
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<param name="id"> l_leg_ft </param>
34-
<param name="board"> strain2 </param>
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<param name="board"> strain2c </param>
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<param name="location"> CAN2:13 </param>
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</group>
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‎ergoCubSN003/hardware/FT/left_leg-eb9-j4_5-strain.xml‎

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Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> strain2 </param>
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<param name="type"> strain2c </param>
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<group name="PROTOCOL">
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<param name="major"> 2 </param>
@@ -31,7 +31,7 @@
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<group name="SENSORS">
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<param name="id"> l_foot_rear_ft l_foot_front_ft </param>
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<param name="board"> strain2 strain2 </param>
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<param name="board"> strain2c strain2 </param>
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<param name="location"> CAN2:13 CAN2:14 </param>
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</group>
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‎ergoCubSN003/hardware/FT/right_leg-eb6-j0_3-strain.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
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<group name="SENSORS">
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<param name="id"> r_leg_ft </param>
34-
<param name="board"> strain2 </param>
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<param name="board"> strain2c </param>
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<param name="location"> CAN2:13 </param>
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</group>
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‎ergoCubSN003/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,8 @@
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<param name="Encoder"> 182.044 182.044 182.044 182.044 </param>
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<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
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<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
14-
<param name="Gearbox_M2J"> -100.0 160.0 -100.0 -100.0 </param>
15-
<param name="Gearbox_E2J"> 64 64 64 64 </param>
14+
<param name="Gearbox_M2J"> -100.0 160.0 -100.0 -100.0 </param>
15+
<param name="Gearbox_E2J"> 1 1 1 1 </param>
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<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580" </param>
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<param name="Verbose">0</param>
@@ -34,7 +34,7 @@
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<param name="HasRotorEncoder"> 1 1 1 1 </param>
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<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
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<param name="HasSpeedEncoder"> 0 0 0 0 </param>
37-
<param name="RotorIndexOffset"> 75 186 192 84 </param>
37+
<param name="RotorIndexOffset"> 334 160 38 146 </param>
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<param name="MotorPoles"> 12 8 8 12 </param>
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</group>
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‎ergoCubSN003/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -10,9 +10,9 @@
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<param name="AxisType"> "revolute" "revolute" </param>
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<param name="Encoder"> 182.044 182.044 </param>
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<param name="fullscalePWM"> 32000 32000 </param>
13-
<param name="ampsToSensor"> 1000.0 1000.0 </param>
13+
<param name="ampsToSensor"> 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> -100.00 -160.00 </param>
15-
<param name="Gearbox_E2J"> 64 32 </param>
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<param name="Gearbox_E2J"> 1 1 </param>
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<param name="useMotorSpeedFbk"> 1 1 </param>
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<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" </param>
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@@ -30,12 +30,12 @@
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<param name="AutoCalibration"> 0 0 </param>
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<param name="Verbose"> 0 0 </param>
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<param name="HasHallSensor"> 0 0 </param>
33-
<param name="TemperatureSensorType"> PT100 NONE </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
33+
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the ankel roll. -->
3434
<!-- <param name="TemperatureSensorType"> NONE NONE </param> -->
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<param name="HasRotorEncoder"> 1 1 </param>
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<param name="HasRotorEncoderIndex"> 1 1 </param>
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<param name="HasSpeedEncoder"> 0 0 </param>
38-
<param name="RotorIndexOffset"> 128 302 </param>
38+
<param name="RotorIndexOffset"> 34 187 </param>
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<param name="MotorPoles"> 12 8 </param>
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</group>
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‎ergoCubSN003/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
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<param name="fullscalePWM"> 32000 32000 32000 32000 </param>
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<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
1515
<param name="Gearbox_M2J"> 100.00 -160.00 100.0 100.0 </param>
16-
<param name="Gearbox_E2J"> 64 64 64 64 </param>
16+
<param name="Gearbox_E2J"> 1 1 1 1 </param>
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<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580" </param>
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@@ -32,12 +32,12 @@
3232
<param name="AutoCalibration"> 0 0 0 0 </param>
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<param name="Verbose"> 0 0 0 0 </param>
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<param name="HasHallSensor"> 0 0 0 0 </param>
35-
<param name="TemperatureSensorType"> PT100 PT100 PT100 PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. -->
35+
<param name="TemperatureSensorType"> PT100 PT100 PT100 PT100 </param> <!-- Supported values: PT100 or NONE. If setting NONE consider using the safer current limits for the hip roll. -->
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<!-- <param name="TemperatureSensorType"> NONE NONE NONE NONE </param> -->
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<param name="HasRotorEncoder"> 1 1 1 1 </param>
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<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
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<param name="HasSpeedEncoder"> 0 0 0 0 </param>
40-
<param name="RotorIndexOffset"> 302 64 174 24 </param>
40+
<param name="RotorIndexOffset"> 15 236 205 304 </param>
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<param name="MotorPoles"> 12 8 8 12 </param>
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</group>
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‎ergoCubSN003/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
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<param name="fullscalePWM"> 32000 32000 </param>
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<param name="ampsToSensor"> 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> 100.0 160.0 </param>
15-
<param name="Gearbox_E2J"> 64 32 </param>
15+
<param name="Gearbox_E2J"> 1 1 </param>
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<param name="useMotorSpeedFbk"> 1 1 </param>
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<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" </param>
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<param name="Verbose"> 0 </param>
@@ -33,7 +33,7 @@
3333
<param name="HasRotorEncoder"> 1 1 </param>
3434
<param name="HasRotorEncoderIndex"> 1 1 </param>
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<param name="HasSpeedEncoder"> 0 0 </param>
36-
<param name="RotorIndexOffset"> 69 22 </param>
36+
<param name="RotorIndexOffset"> 30 357 </param>
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<param name="MotorPoles"> 12 8 </param>
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</group>
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