head-eb05-j0_1-mec.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">


<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="vizzy" build="1">

    <group name="GENERAL">
        <param name="MotioncontrolVersion"> 6 </param>
        <param name="Joints"> 2 </param> <!-- the number of joints of the robot part -->

        <!-- joint number in sub-part           0              1           -->

        <!-- joint name                         neck_pan     neck_tilt   -->   
        <param name="AxisMap">                  0               1               </param>    
        <param name="AxisName">              "neck_pan"       "neck_tilt"     </param>
        <param name="AxisType">                "revolute"    "revolute"         </param>
        <param name="Encoder">                  73255.5         73255.5         </param>
        <param name="fullscalePWM">           1333            1333            </param>
        <param name="ampsToSensor">             1000.0             1000.0             </param>
        <param name="Gearbox_M2J">              1          1          </param> <!-- 0 on this value caused error, check if 1 is right  -->
		<param name="JointEncoderType">     "OPTICAL_QUAD" 	"OPTICAL_QUAD"</param>
        <param name="Gearbox_E2J">   	          1             1               </param>
        <param name="useMotorSpeedFbk">           1             1               </param>
        <param name="MotorType">                 "DC"          "DC"             </param>
        <param name="Verbose">   1    </param>
    </group>

    <group name="LIMITS">
        <param name="hardwareJntPosMin">      -55         -20         </param><!-- These hardware limits should match the old parameter Zeros  -->
        <param name="hardwareJntPosMax">      +55         +40         </param>
        <param name="rotorPosMin">             0           0           </param>
        <param name="rotorPosMax">             0           0           </param>
    </group>

     <group name="COUPLINGS">
		<!-- Check if this is right  -->
        <param name="matrixJ2M">  
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00 
        </param>
		<!-- Check if this is right  -->
        <param name="matrixM2J">  
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00
            0.00    0.00    0.00    0.00 
        </param>
		<!-- Check if this is right  -->
        <param name ="matrixE2J"> 
            1.00    0.00    0.00    0.00    0.00    0.00
            0.00    1.00    0.00    0.00    0.00    0.00
            0.00    0.00    1.00    0.00    0.00    0.00
            0.00    0.00    0.00    1.00    0.00    0.00
        </param>

    </group>

    <group name="JOINTSET_CFG"> <!-- To be deleted  -->
        <param name= "numberofsets"> 1 </param>
        <group name="JOINTSET_0">
            <param name="listofjoints">  0 1           </param>
            <param name="constraint">    none          </param>
            <param name="param1">        0             </param>
            <param name="param2">        0             </param>
        </group>
    </group>

</params>