Added integral gain

robotology-legacy · Jul 21, 2014 · 302cfea · 302cfea
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commit 302cfea
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Showing 5 changed files with 29 additions and 29 deletions.
diff --git a/icub/conf/gazebo_icub_left_arm.ini b/icub/conf/gazebo_icub_left_arm.ini
@@ -30,13 +30,13 @@ name left_arm
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [GAZEBO_PIDS]
 #Left Arm
-Pid0 100.0 10.0 0.0 9999 9999 9 9
-Pid1 100.0 10.0 0.0 9999 9999 9 9
-Pid2 100.0 10.0 0.0 9999 9999 9 9
-Pid3 100.0 10.0 0.0 9999 9999 9 9
-Pid4 100.0 10.0 0.0 9999 9999 9 9
-Pid5 100.0 10.0 0.0 9999 9999 9 9
-Pid6 100.0 10.0 0.0 9999 9999 9 9
+Pid0 100.0 10.0 10.0 9999 9999 9 9
+Pid1 100.0 10.0 10.0 9999 9999 9 9
+Pid2 100.0 10.0 10.0 9999 9999 9 9
+Pid3 100.0 10.0 10.0 9999 9999 9 9
+Pid4 100.0 10.0 10.0 9999 9999 9 9
+Pid5 100.0 10.0 10.0 9999 9999 9 9
+Pid6 100.0 10.0 10.0 9999 9999 9 9
 
 [GAZEBO_VELOCITY_PIDS]
 #Left Arm

diff --git a/icub/conf/gazebo_icub_left_leg.ini b/icub/conf/gazebo_icub_left_leg.ini
@@ -30,12 +30,12 @@ name left_leg
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [GAZEBO_PIDS]
 #Left Leg
-Pid0 100.0 10.0 0.0 9999 9999 9 9
-Pid1 100.0 10.0 0.0 9999 9999 9 9
-Pid2 100.0 10.0 0.0 9999 9999 9 9
-Pid3 100.0 10.0 0.0 9999 9999 9 9
-Pid4 100.0 10.0 0.0 9999 9999 9 9
-Pid5 100.0 10.0 0.0 9999 9999 9 9
+Pid0 100.0 10.0 10.0 9999 9999 9 9
+Pid1 100.0 10.0 10.0 9999 9999 9 9
+Pid2 100.0 10.0 10.0 9999 9999 9 9
+Pid3 100.0 10.0 10.0 9999 9999 9 9
+Pid4 100.0 10.0 10.0 9999 9999 9 9
+Pid5 100.0 10.0 10.0 9999 9999 9 9
 
 [GAZEBO_VELOCITY_PIDS]
 #Left Leg

diff --git a/icub/conf/gazebo_icub_right_arm.ini b/icub/conf/gazebo_icub_right_arm.ini
@@ -30,13 +30,13 @@ name right_arm
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [GAZEBO_PIDS]
 #Right Arm
-Pid0 100.0 10.0 0.0 9999 9999 9 9
-Pid1 100.0 10.0 0.0 9999 9999 9 9
-Pid2 100.0 10.0 0.0 9999 9999 9 9
-Pid3 100.0 10.0 0.0 9999 9999 9 9
-Pid4 100.0 10.0 0.0 9999 9999 9 9
-Pid5 100.0 10.0 0.0 9999 9999 9 9
-Pid6 100.0 10.0 0.0 9999 9999 9 9
+Pid0 100.0 10.0 10.0 9999 9999 9 9
+Pid1 100.0 10.0 10.0 9999 9999 9 9
+Pid2 100.0 10.0 10.0 9999 9999 9 9
+Pid3 100.0 10.0 10.0 9999 9999 9 9
+Pid4 100.0 10.0 10.0 9999 9999 9 9
+Pid5 100.0 10.0 10.0 9999 9999 9 9
+Pid6 100.0 10.0 10.0 9999 9999 9 9
 
 
 [GAZEBO_VELOCITY_PIDS]

diff --git a/icub/conf/gazebo_icub_right_leg.ini b/icub/conf/gazebo_icub_right_leg.ini
@@ -31,12 +31,12 @@ name right_leg
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [GAZEBO_PIDS]
 #Right Leg
-Pid0 100.0 10.0 0.0 9999 9999 9 9
-Pid1 100.0 10.0 0.0 9999 9999 9 9
-Pid2 100.0 10.0 0.0 9999 9999 9 9
-Pid3 100.0 10.0 0.0 9999 9999 9 9
-Pid4 100.0 10.0 0.0 9999 9999 9 9
-Pid5 100.0 10.0 0.0 9999 9999 9 9
+Pid0 100.0 10.0 10.0 9999 9999 9 9
+Pid1 100.0 10.0 10.0 9999 9999 9 9
+Pid2 100.0 10.0 10.0 9999 9999 9 9
+Pid3 100.0 10.0 10.0 9999 9999 9 9
+Pid4 100.0 10.0 10.0 9999 9999 9 9
+Pid5 100.0 10.0 10.0 9999 9999 9 9
 
 
 [GAZEBO_VELOCITY_PIDS]

diff --git a/icub/conf/gazebo_icub_torso.ini b/icub/conf/gazebo_icub_torso.ini
@@ -28,9 +28,9 @@ name torso
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
 [GAZEBO_PIDS]
 #Torso
-Pid0 100.0 10 0.0 9999 9999 9 9
-Pid1 100.0 10 0.0 9999 9999 9 9
-Pid2 100.0 10 0.0 9999 9999 9 9
+Pid0 100.0 10 10.0 9999 9999 9 9
+Pid1 100.0 10 10.0 9999 9999 9 9
+Pid2 100.0 10 10.0 9999 9999 9 9
 
 [GAZEBO_VELOCITY_PIDS]
 #Torso