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148 changes: 74 additions & 74 deletions
148
...ertfordshire01/calibrators/head_calib.xml → ...ertfordshire01/calibrators/head_calib.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,74 +1,74 @@ | ||
| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator"> | ||
| <xi:include href="../general.xml" /> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 969.15 3327.188 3806.075 411.775 0 0 </param> | ||
| <param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="startupPosition"> 0 0 0 0 0 0 </param> | ||
| <param name="startupVelocity"> 10 10 10 10 10 10 </param> | ||
| <param name="startupMaxPwm"> 120 120 0 0 0 0 </param> | ||
| <param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
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| <device xmlns:xi="http://www.w3.org/2001/XInclude" name="head_calibrator" type="parametricCalibrator"> | ||
| <xi:include href="../general.xml" /> | ||
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| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
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| <group name="HOME"> | ||
| <param name="positionHome"> -30 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
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| <group name="CALIBRATION"> | ||
|
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| <param name="calibrationType"> 3 3 3 3 0 0 </param> | ||
| <param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 900 900 </param> | ||
| <param name="calibration2"> 10 10 10 10 20 20 </param> | ||
| <param name="calibration3"> 969.15 3327.188 3806.075 411.775 0 0 </param> | ||
| <param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="startupPosition"> 0 0 0 0 0 0 </param> | ||
| <param name="startupVelocity"> 10 10 10 10 10 10 </param> | ||
| <param name="startupMaxPwm"> 120 120 0 0 0 0 </param> | ||
| <param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
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| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
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| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
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| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
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| <action phase="interrupt3" level="1" type="abort" /> | ||
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| </device> | ||
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150 changes: 75 additions & 75 deletions
150
...ertfordshire02/calibrators/head_calib.xml → ...ertfordshire02/calibrators/head_calib.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,75 +1,75 @@ | ||
| <?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="head_calibrator" type="parametricCalibrator"> | ||
| <xi:include href="../general.xml"/> | ||
|
|
||
| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
|
|
||
| <group name="HOME"> | ||
| <param name="positionHome"> -40 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
|
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||
| <group name="CALIBRATION"> | ||
|
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||
| <param name="calibrationType"> 0 0 0 0 0 0 </param> | ||
| <param name="calibration1"> 500 1333 1333 600 500 500 </param> | ||
| <param name="calibration2"> 20 20 20 -20 20 20 </param> | ||
| <param name="calibration3"> 0 0 0 0 0 0 </param> | ||
| <param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="startupPosition"> 20 0 0 0 0 0 </param> | ||
| <param name="startupVelocity"> 10 10 10 10 10 10 </param> | ||
| <param name="startupMaxPwm"> 0 0 0 0 0 0 </param> | ||
| <param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
|
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||
|
|
||
|
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||
| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
|
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||
| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
|
|
||
| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
|
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| <action phase="interrupt3" level="1" type="abort" /> | ||
|
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| </device> | ||
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| <?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="head_calibrator" type="parametricCalibrator"> | ||
| <xi:include href="../general.xml"/> | ||
|
|
||
| <group name="GENERAL"> | ||
| <param name="joints"> 6 </param> | ||
| <param name="deviceName"> Head_Calibrator </param> | ||
| </group> | ||
|
|
||
| <group name="HOME"> | ||
| <param name="positionHome"> -40 0 0 0 0 0 </param> | ||
| <param name="velocityHome"> 10 10 10 10 10 10 </param> | ||
| </group> | ||
|
|
||
| <group name="CALIBRATION"> | ||
|
|
||
| <param name="calibrationType"> 0 0 0 0 0 0 </param> | ||
| <param name="calibration1"> 500 1333 1333 600 500 500 </param> | ||
| <param name="calibration2"> 20 20 20 -20 20 20 </param> | ||
| <param name="calibration3"> 0 0 0 0 0 0 </param> | ||
| <param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 </param> | ||
| <param name="startupPosition"> 20 0 0 0 0 0 </param> | ||
| <param name="startupVelocity"> 10 10 10 10 10 10 </param> | ||
| <param name="startupMaxPwm"> 0 0 0 0 0 0 </param> | ||
| <param name="startupPosThreshold"> 2 2 2 2 2 2 </param> | ||
| </group> | ||
|
|
||
|
|
||
|
|
||
| <param name="CALIB_ORDER"> (0 1 2 3) (4) (5) </param> | ||
|
|
||
| <action phase="startup" level="10" type="calibrate"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
|
|
||
| <action phase="interrupt1" level="1" type="park"> | ||
| <param name="target">head-mc_remapper</param> | ||
| </action> | ||
|
|
||
| <action phase="interrupt3" level="1" type="abort" /> | ||
|
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| </device> | ||
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