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[ergoCubSN001] New wrists and torso pitch calibration #651

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merged 1 commit into from
May 13, 2024
Merged

[ergoCubSN001] New wrists and torso pitch calibration #651

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6 changes: 3 additions & 3 deletions ergoCubSN001/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,19 +12,19 @@

<group name="HOME">
<!-- shoulder-pitch shoulder-roll shoulder-yaw elbow wrist-yaw wrist-roll wrist-pitch thumb_add thumb_oc index_add index_oc middle_oc ring_pinky_oc -->
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00 </param>
<param name="positionHome"> 5 30 0 10 0 0 0 0.00 15.00 5.00 5.00 5.00 5.00 </param>
<param name="velocityHome"> 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00 </param>
</group>
<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 24917 14878 17235 0 300 0 300 300 300 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 27080 5487 831 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="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 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 15.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,14 +18,14 @@
</group>
<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 1795 16373 11969 0 300 0 300 300 300 </param>
<param name="calibration1"> -4000 3000 3000 -4000 29953 7737 2631 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="calibration3"> 0 0 0 0 0 0 0 0 0 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 32768 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 25030 0 1230 20000 18350 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 5.0 5.0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 15.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/calibrators/torso-calib.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="calibration4"> 0 0 0 </param>
<param name="calibration5"> 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 </param>
<param name="calibrationDelta"> -0.939 2.917 0 </param>
<param name="calibrationDelta"> -0.939 2.917 0 </param>

<param name="startupPosition"> 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
<param name="RotorIndexOffset"> 155 134 328 </param>
<param name="RotorIndexOffset"> 155 210 328 </param>
<param name="MotorPoles"> 8 8 8 </param>
</group>

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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -50,9 +50,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 10000 -10000 -1500 </param>
<param name="kp"> 10000 10000 -1500 </param>
<param name="kd"> 0 0 0 </param>
<param name="ki"> 8000 -5000 -1000 </param>
<param name="ki"> 8000 5000 -1000 </param>
<param name="maxOutput"> 10000 10000 8000 </param>
<param name="maxInt"> 10000 5000 1000 </param>
<param name="stictionUp"> 0 0 0 </param>
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