[iCubGenova09] Increase the motor control wrapper frequency from 50Hz…

… (default value) to 500Hz
ami-iit · Aug 25, 2022 · c65898d · c65898d
1 parent b68c0ef
commit c65898d
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Showing 7 changed files with 12 additions and 12 deletions.
diff --git a/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/face-mc_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/face   </param>
-  <param name="period"> 0.02   </param>          
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
       <param name="device">  face-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/head-mc_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/head   </param>
-  <param name="period"> 0.02   </param>  
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
       <param name="device">  head-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_arm-mc_wrapper.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!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="left_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/left_arm </param>
-  <param name="period"> 0.02   </param>          
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
       <param name="device"> left_arm-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/left_leg-mc_wrapper.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!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="left_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/left_leg </param>
-  <param name="period"> 0.02   </param>          
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
       <param name="device"> left_leg-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_arm-mc_wrapper.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!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="right_arm-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/right_arm </param>
-  <param name="period"> 0.02   </param>          
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
       <param name="device"> right_arm-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/right_leg-mc_wrapper.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!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="right_leg-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/right_leg </param>
-  <param name="period"> 0.02   </param>  
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> right_leg-mc_remapper </param>
     </action>

diff --git a/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml b/iCubGenova09/wrappers/motorControl/torso-mc_wrapper.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!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="torso-mc_nws_yarp" type="controlBoard_nws_yarp">
   <param name="name"> /icub/torso </param>
-  <param name="period"> 0.02   </param>          
+  <param name="period"> 0.002   </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> torso-mc_remapper </param>
     </action>