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ergoCubSN002: adjust fingers limits for the left hand #766

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ergoCubSN002: adjust fingers limits for the left hand #766

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2 changes: 1 addition & 1 deletion ergoCubSN002/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 9385 30845 3031 0 300 0 300 300 300 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 728 0 1092 1092 1092 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 0 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 16384 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 17603 0 56397 5625 47131 </param>
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8 changes: 4 additions & 4 deletions ergoCubSN002/hardware/mechanicals/left_arm-eb23-j7_10-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,10 +23,10 @@
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> -31500 -31500 -31500 -31500 </param>
<param name="rotorPosMax"> -100 -100 -100 -100 </param>
<param name="hardwareJntPosMax"> 98 98 98 98 </param>
<param name="hardwareJntPosMin"> 4 6 6 6 </param>
<param name="rotorPosMin"> -34291 -34291 -34291 -34291 </param>
<param name="rotorPosMax"> -1496 -2193 -2193 -2193 </param>
</group>

<group name="COUPLINGS">
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24 changes: 12 additions & 12 deletions ergoCubSN002/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,17 +11,17 @@
<xi:include href="../motorControl/left_arm-eb23-j7_10-mc_service.xml" />

<!-- joint number 0 1 2 3 -->
<!-- joint name thumb index medium pinky -->
<!-- joint name thumb index medium pinky -->
<group name="LIMITS">
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="jntPosMax"> 90 90 90 90 </param>
<param name="jntPosMin"> 4 6 6 6 </param>
<param name="jntPosMax"> 98 98 98 98 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorOverloadCurrents"> 2000 2000 2000 2000 </param>
<param name="motorNominalCurrents"> 1100 1100 1100 1100 </param>
<param name="motorPeakCurrents"> 1500 1500 1500 1500 </param>
<param name="motorPeakCurrents"> 1500 1500 1500 1500 </param>
<param name="motorPwmLimit"> 3360 3360 3360 3360 </param>
</group>
</group>

<group name="TIMEOUTS">
<param name="velocity"> 100 100 100 100 </param>
</group>
Expand All @@ -30,7 +30,7 @@
<param name="stiffness"> 0.0 0.0 0.0 0.0 </param>
<param name="damping"> 0.0 0.0 0.0 0.0 </param>
</group>

<group name="CONTROLS">
<param name="positionControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
<param name="velocityControl"> POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT </param>
Expand All @@ -42,7 +42,7 @@


<!-- default position PID: begin -->

<group name="POS_PID_DEFAULT">
<param name="controlLaw"> minjerk </param>
<param name="outputType"> pwm </param>
Expand All @@ -61,14 +61,14 @@
<!-- default position PID: end -->


<!-- other default PIDs: begin -->
<!-- other default PIDs: begin -->
<!-- other default PIDs: end -->


<!-- custom PIDs: begin -->
<!-- custom PIDs: begin -->
<!-- custom PIDs: end -->

</device>