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ergoCubSN000: fix left wrist files
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@Nicogene
Nicogene committed Nov 18, 2022
1 parent dd61406 commit 375a0ff
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Showing 2 changed files with 7 additions and 7 deletions.
4 changes: 2 additions & 2 deletions ergoCubSN000/calibrators/left_arm-calib.xml
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Expand Up @@ -16,7 +16,7 @@
</group>
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 12 12 12 12 12 12 12 12 </param>
<param name="calibration1"> -41179 7782 11224 25717 6865 29533 30289 0 0 0 0 0 0 0 </param>
<param name="calibration1"> -41179 7782 11224 25717 10816 7369 21632 0 0 0 0 0 0 0 </param>
<param name="calibration2"> 0 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 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
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<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>

<param name="startupPosition"> -35 30 0 45 0.0 0.0 0.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 30.0 30.0 30.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 10 10 10 10 10 10 10 </param>
</group>
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10 changes: 5 additions & 5 deletions ergoCubSN000/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
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Expand Up @@ -22,21 +22,21 @@
<group name="FIRMWARE">
<param name="major"> 1 </param>
<param name="minor"> 0 </param>
<param name="build"> 7 </param>
<param name="build"> 8 </param>
</group>
</group>

<group name="JOINTMAPPING">

<group name="ACTUATOR">
<param name="type"> eomc_act_foc foc foc </param>
<param name="type"> foc foc foc </param>
<param name="port"> CAN1:1:0 CAN1:2:0 CAN1:3:0 </param>
</group>

<group name="ENCODER1">
<param name="type"> eomc_enc_aea aea aea </param>
<param name="port"> CONN:J5_X1 CONN:J5_X2 CONN:J5_X3 </param>
<param name="position"> eomc_pos_atjoint atjoint atjoint </param>
<param name="type"> aea aea aea </param>
<param name="port"> CONN:J5_X1 CONN:J5_X2 CONN:J5_X3 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> 4096 4096 4096 </param>
<param name="tolerance"> 0.4 0.4 0.4 </param>
</group>
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