From d2e5106725c4c6a274bac8aa2844d1e457d7529d Mon Sep 17 00:00:00 2001
From: Antonio Consilvio <antonio.consilvio@iit.it>
Date: Tue, 18 Apr 2023 17:18:05 +0200
Subject: [PATCH 1/2] Torso pitch change of current limits

---
 ergoCubSN000/calibrators/head-calib.xml                | 10 +++++-----
 ergoCubSN000/calibrators/torso-calib.xml               |  4 ++--
 .../hardware/mechanicals/torso-eb5-j0_2-mec.xml        |  6 +++---
 .../hardware/motorControl/torso-eb5-j0_2-mc.xml        |  8 ++++----
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/ergoCubSN000/calibrators/head-calib.xml b/ergoCubSN000/calibrators/head-calib.xml
index 41574cabce..93773d3121 100644
--- a/ergoCubSN000/calibrators/head-calib.xml
+++ b/ergoCubSN000/calibrators/head-calib.xml
@@ -19,16 +19,16 @@
         <!-- joint logical number               0           1           2           3         -->
         <!-- joint name                         neck-pitch  neck-roll   neck-yaw    eyes-tilt -->
         <group name="CALIBRATION">
-            <param name="calibrationType">      12          12          12           12         </param>
-            <param name="calibration1">   	27519	    -17823      61615	    52575      </param>
-            <param name="calibration2">         0           0           0	    0          </param>
+            <param name="calibrationType">      12          12          12          12         </param>
+            <param name="calibration1">   	    27519	    -17823      61615	    52575      </param>
+            <param name="calibration2">         0           0           0	        0          </param>
             <param name="calibration3">         0           0           0           0          </param>
 
             <param name="calibration4">         0           0           0           0    </param>
             <param name="calibration5">         0           0           0           0    </param>
 
-            <param name="calibrationZero">      0.0         0.0        0.0         0.0   </param>
-            <param name="calibrationDelta">     0.0         0.0        0.0         0.0   </param>
+            <param name="calibrationZero">      0.0         0.0         0.0         0.0   </param>
+            <param name="calibrationDelta">     0.0         0.0         0.0         0.0   </param>
 
             <param name="startupPosition">      0.0         0.0         0.0         0.0  </param>
             <param name="startupVelocity">      10          10          20.0        20.0 </param>
diff --git a/ergoCubSN000/calibrators/torso-calib.xml b/ergoCubSN000/calibrators/torso-calib.xml
index 47d780f239..d5a91eb2e1 100644
--- a/ergoCubSN000/calibrators/torso-calib.xml
+++ b/ergoCubSN000/calibrators/torso-calib.xml
@@ -37,8 +37,8 @@
 <param name="startupPosThreshold">                  2                       2                      2                       </param>
 </group>
 
- <!-- check old calibrator for the correct sequence, then ask to Randazz -->
-		<param name="CALIB_ORDER">(0) (1) (2) </param>
+ <!-- Joint 1 has been removed from the calibration order for motor safety -->
+		<param name="CALIB_ORDER">(0) (2) </param>
 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">torso-mc_remapper</param>
diff --git a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
index b0139c70a6..27e3ed3080 100644
--- a/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
+++ b/ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
@@ -11,7 +11,7 @@
         <param name="Encoder">              182.044             182.044          182.044             </param>
         <param name="fullscalePWM">         32000               32000            32000               </param>
         <param name="ampsToSensor">         1000.0              1000.0           1000.0              </param>
-        <param name="Gearbox_M2J">          100.0              100.0            -100.0              </param>
+        <param name="Gearbox_M2J">          100.0               160.0            -100.0              </param>
         <param name="Gearbox_E2J">          1                   1                1                   </param>
         <param name="useMotorSpeedFbk">     1                   1                1                   </param> 
         <param name="MotorType">            "MOOG_C2900576"     "MOOG_C2900576"   "MOOG_C2900576"     </param>
@@ -27,13 +27,13 @@
                                                                     
     <group name="2FOC">                                             
 		<param name="Verbose">              0                   0                0                  </param>
-        <param name="AutoCalibration">      0                   0               0                  </param>
+        <param name="AutoCalibration">      0                   0                0                  </param>
         <param name="HasHallSensor">        0                   0                0                  </param>
         <param name="HasTempSensor">        0                   0                0                  </param>
         <param name="HasRotorEncoder">      1                   1                1                  </param>
         <param name="HasRotorEncoderIndex"> 1                   1                1                  </param>
         <param name="HasSpeedEncoder">      0                   0                0                  </param>
-        <param name="RotorIndexOffset">     66                  131               228                </param>
+        <param name="RotorIndexOffset">     66                  85               228                </param>
         <param name="MotorPoles">           8                   8                8                  </param>
    </group>
 
diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
index d9c4e6683f..1d379ea769 100644
--- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
@@ -16,10 +16,10 @@
         <param name="jntPosMax">                23                  45                  43                  </param>
         <param name="jntPosMin">                -23                 -18                 -43                 </param>
         <param name="jntVelMax">                120                 120                 120                 </param>
-        <param name="motorNominalCurrents">     5000                15000               5000                </param>
-        <param name="motorPeakCurrents">        10000               20000               10000                </param>
-        <param name="motorOverloadCurrents">    15000               30000               15000               </param>
-        <param name="motorPwmLimit">            10000               16000               10000               </param>
+        <param name="motorNominalCurrents">     3770                3770                5000                </param>
+        <param name="motorPeakCurrents">        14000               14000               10000                </param>
+        <param name="motorOverloadCurrents">    18000               18000               15000               </param>
+        <param name="motorPwmLimit">            10000               10000               10000               </param>
     </group>
 
     <group name="TIMEOUTS">

From 07e2600e0b4cd6c03117a5bdee7d8b8ed030cd83 Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Wed, 19 Apr 2023 10:55:10 +0200
Subject: [PATCH 2/2] Update
 ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml

---
 ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
index 1d379ea769..ed57f0cf7a 100644
--- a/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
+++ b/ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
@@ -19,7 +19,7 @@
         <param name="motorNominalCurrents">     3770                3770                5000                </param>
         <param name="motorPeakCurrents">        14000               14000               10000                </param>
         <param name="motorOverloadCurrents">    18000               18000               15000               </param>
-        <param name="motorPwmLimit">            10000               10000               10000               </param>
+        <param name="motorPwmLimit">            16000               16000               16000               </param>
     </group>
 
     <group name="TIMEOUTS">