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Modifications on the hands config file of ergoCub #532

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merged 4 commits into from
Jun 22, 2023
Merged

Modifications on the hands config file of ergoCub #532

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d5ab504
Using a small value for the opening of the hands in calibration to av…
Jun 16, 2023
990602f
Increased fingers gains on ergoCub
Jun 16, 2023
46a5509
Reduced pwm output of fingers to reduce possibility of overcurrent
Jun 22, 2023
021ddcb
Tweaked the right thumb oc motor offset
Jun 22, 2023
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> 4000 -3000 -3000 4000 17565 8161 21461 0 150 0 150 150 150 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 10923 0 14564 13653 12743 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 2000 0 2000 2000 2000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 0 0 1 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 180 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 -273.0 0 -261.0 -259.0 -296.0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 12 12 12 12 14 12 14 14 14 </param>
<param name="calibration1"> -4000 3000 3000 -4000 19023 28993 36030 0 150 0 150 150 150 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 9000 0 10923 13653 9000 </param>
<param name="calibration2"> 0 0 0 0 0 0 0 0 2000 0 2000 2000 2000 </param>
<param name="calibration3"> 0 0 0 0 0 0 0 0 1 0 1 0 0 </param>
<param name="calibration4"> 0 0 0 0 0 0 0 0 180 0 0 0 0 </param>
<param name="calibration5"> 0 0 0 0 0 0 0 0 -184.0 0 -294.0 -247.0 -65.0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/mechanicals/right_arm-eb22-j7_10-mec.xml
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Expand Up @@ -27,7 +27,7 @@
<param name="hardwareJntPosMax"> 90 90 90 90 </param>
<param name="hardwareJntPosMin"> 0 0 0 0 </param>
<param name="rotorPosMin"> -26000 -26000 -26000 -26000 </param>
<param name="rotorPosMax"> -6500 -100 -100 -100 </param>
<param name="rotorPosMax"> -100 -100 -100 -100 </param>
</group>

<group name="COUPLINGS">
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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Expand Up @@ -48,10 +48,10 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -30 -30 -30 -30 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="kp"> -200 -200 -200 -200 </param>
<param name="kd"> -10 -10 -10 -10 </param>
<param name="ki"> -10 -10 -10 -10 </param>
<param name="maxOutput"> 3360 3360 3360 3360 </param>
<param name="maxOutput"> 2000 2000 2000 2000 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/left_arm-eb25-j11_12-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -60 -150 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -20 -30 </param>
<param name="kp"> -200 -150 </param>
<param name="kd"> -10 0 </param>
<param name="ki"> -10 -30 </param>
<param name="maxOutput"> 3360 3360 </param>
<param name="maxInt"> 1000 1000 </param>
<param name="stictionUp"> 0 0 </param>
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8 changes: 4 additions & 4 deletions ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,10 +48,10 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -60 -60 -60 -60 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -20 -20 -20 -20 </param>
<param name="maxOutput"> 3360 3360 3360 3360 </param>
<param name="kp"> -200 -200 -200 -200 </param>
<param name="kd"> -10 -10 -10 -10 </param>
<param name="ki"> -10 -10 -10 -10 </param>
<param name="maxOutput"> 2000 2000 2000 2000 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/right_arm-eb24-j11_12-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,10 +48,10 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 60 150 </param>
<param name="kp"> 200 150 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> 20 30 </param>
<param name="maxOutput"> 3360 3360 </param>
<param name="ki"> 10 30 </param>
<param name="maxOutput"> 1500 3360 </param>
<param name="maxInt"> 1000 3360 </param>
<param name="stictionUp"> 0 0 </param>
<param name="stictionDown"> 0 0 </param>
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