From 0415b455c649c92b9f5f18a727c620988a4c1e59 Mon Sep 17 00:00:00 2001 From: Antonio Consilvio Date: Wed, 4 Oct 2023 18:10:01 +0200 Subject: [PATCH] [ergoCubSN001] Updates config files for the new 2FOC FW version (V3.6) (#575) --- .../motorControl/left_arm-eb2-j0_1-mc_service.xml | 8 ++++---- .../motorControl/left_arm-eb4-j2_3-mc_service.xml | 8 ++++---- .../motorControl/left_leg-eb8-j0_3-mc_service.xml | 8 ++++---- .../motorControl/left_leg-eb9-j4_5-mc_service.xml | 12 ++++++------ .../motorControl/right_arm-eb1-j0_1-mc_service.xml | 10 +++++----- .../motorControl/right_arm-eb3-j2_3-mc_service.xml | 8 ++++---- .../motorControl/right_leg-eb6-j0_3-mc_service.xml | 8 ++++---- .../motorControl/right_leg-eb7-j4_5-mc_service.xml | 8 ++++---- .../motorControl/torso-eb5-j0_2-mc_service.xml | 6 +++--- 9 files changed, 38 insertions(+), 38 deletions(-) diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml index 92adc7dd00..1bb2e06db2 100644 --- a/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/left_arm-eb2-j0_1-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -44,10 +44,10 @@ - roie roie + roie roie CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml index 78051b247f..0f32c9b5a9 100644 --- a/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/left_arm-eb4-j2_3-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -44,10 +44,10 @@ - roie roie + roie roie CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml index 24490ac5b7..65ecc9ef4e 100644 --- a/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -39,7 +39,7 @@ amo amo amo amo CONN:P6 CONN:P8 CONN:P7 CONN:P9 atjoint atjoint atjoint atjoint - 16384 16384 16384 -16384 + 16384 16384 16384 -16384 0.703 0.703 0.703 0.703 @@ -47,7 +47,7 @@ roie roie roie roie CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 atmotor atmotor atmotor atmotor - 14400 14400 14400 14400 + 3600 3600 3600 3600 3.6 3.6 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml index afe45e497b..d7d332bea3 100644 --- a/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -38,15 +38,15 @@ amo amo CONN:P6 CONN:P7 atjoint atjoint - 16384 -16384 - 0.703 0.703 + 16384 -16384 + 0.703 0.703 roie roie - CAN1:1:0 CAN1:2:0 + CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml index db1320e563..3ecb34c356 100644 --- a/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/right_arm-eb1-j0_1-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -39,15 +39,15 @@ amo amo CONN:P6 CONN:P8 atjoint atjoint - 16384 -16384 + 16384 -16384 0.703 0.703 - roie roie + roie roie CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml index e849cdfd3c..87f935c74e 100644 --- a/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/right_arm-eb3-j2_3-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -44,10 +44,10 @@ - roie roie + roie roie CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml index a0c28e53a0..16d593de04 100644 --- a/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -39,7 +39,7 @@ amo amo amo amo CONN:P6 CONN:P8 CONN:P7 CONN:P9 atjoint atjoint atjoint atjoint - -16384 -16384 -16384 16384 + -16384 -16384 -16384 16384 0.703 0.703 0.703 0.703 @@ -47,7 +47,7 @@ roie roie roie roie CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0 atmotor atmotor atmotor atmotor - 14400 14400 14400 14400 + 3600 3600 3600 3600 3.6 3.6 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml index 153ecf3d65..e9a2c43de6 100644 --- a/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -44,9 +44,9 @@ roie roie - CAN1:1:0 CAN1:2:0 + CAN1:1:0 CAN1:2:0 atmotor atmotor - 14400 14400 + 3600 3600 3.6 3.6 diff --git a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml index 3a6a061e3d..64d93c565f 100644 --- a/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml +++ b/ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -21,8 +21,8 @@ 3 - 3 - 10 + 6 + 21 @@ -48,7 +48,7 @@ roie roie roie CAN1:2:0 CAN1:3:0 CAN1:1:0 atmotor atmotor atmotor - 14400 14400 14400 + 3600 3600 3600 3.6 3.6 3.6