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[ergoCubSN000] Torso: changing of current limits and more #483

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merged 2 commits into from
Apr 19, 2023
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[ergoCubSN000] Torso: changing of current limits and more #483

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d2e5106
Torso pitch change of current limits
AntonioConsilvio Apr 18, 2023
07e2600
Update ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
pattacini Apr 19, 2023
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10 changes: 5 additions & 5 deletions ergoCubSN000/calibrators/head-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions ergoCubSN000/calibrators/torso-calib.xml
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Expand Up @@ -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>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand All @@ -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>

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8 changes: 4 additions & 4 deletions ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"> 16000 16000 16000 </param>
</group>

<group name="TIMEOUTS">
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