[ergoCubSN001] New Hip Rolls calibration values (#620)

robotology · Feb 27, 2024 · 10d75db · 10d75db
1 parent 0a49d10
commit 10d75db
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/ergoCubSN001/calibrators/left_leg-calib.xml b/ergoCubSN001/calibrators/left_leg-calib.xml
@@ -20,11 +20,11 @@
     <param name="calibration3">                       0.0            0.0          0             0          0       0        </param> 
     <param name="calibration4">                       0.0            0.0          0             0          0       0        </param>
     <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
-    <param name="calibrationZero">                    110.15         111.776      81.65         7.75       -46.624 25.313     </param>
+    <param name="calibrationZero">                    110.15         111.776      81.65         7.75       -46.624 25.313   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
     <param name="startupPosition">                    90             80           0             -95        0       0        </param>
     <param name="startupVelocity">                    10.0           10.0         10.0          10         10      10       </param>
-    <param name="startupMaxPwm">                      8000           8000         8000          8000       8000    8000      </param>
+    <param name="startupMaxPwm">                      8000           8000         8000          8000       12000   8000     </param>
     <param name="startupPosThreshold">                2              2            2             2          2       2        </param>
   </group>
 <!-- <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1)  </param> --> <!-- Don't remove this line -->

diff --git a/ergoCubSN001/calibrators/right_leg-calib.xml b/ergoCubSN001/calibrators/right_leg-calib.xml
@@ -22,12 +22,12 @@
     <param name="calibration3">                       0.0            0.0          0             0          0       0        </param> 
     <param name="calibration4">                       0.0            0.0          0             0          0       0        </param>
     <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
-   <param name="calibrationZero">                     110.15         111.463      81.078        7.75       -45.942 25.786    </param>
+   <param name="calibrationZero">                     110.15         111.463      81.078        7.75       -45.942 25.786   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
 
     <param name="startupPosition">                    90             80           0             -95        0       0        </param>
     <param name="startupVelocity">                    10.0           10.0         10.0          10         10      10       </param>
-    <param name="startupMaxPwm">                      8000           8000         8000          8000       8000    8000     </param>
+    <param name="startupMaxPwm">                      8000           8000         8000          8000       12000   8000     </param>
     <param name="startupPosThreshold">                2              2            2             2          2       2        </param>
   </group>
 

diff --git a/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
@@ -33,7 +33,7 @@
         <param name="HasRotorEncoder">            1             1     1     1     </param>
         <param name="HasRotorEncoderIndex">       1             1     1     1     </param>
         <param name="HasSpeedEncoder">            0             0     0     0     </param>
-        <param name="RotorIndexOffset">           337           153   112   113   </param>
+        <param name="RotorIndexOffset">           337           181   112   113   </param>
         <param name="MotorPoles">                 12            8     8     12    </param>
    </group>
 

diff --git a/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml b/ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
@@ -36,7 +36,7 @@
         <param name="HasRotorEncoder">       1             1        1   1  </param>
         <param name="HasRotorEncoderIndex">  1             1        1   1  </param>
         <param name="HasSpeedEncoder">       0             0        0   0  </param>
-        <param name="RotorIndexOffset">      170           350      62  89 </param>
+        <param name="RotorIndexOffset">      170           345      62  89 </param>
         <param name="MotorPoles">            12            8        8   12 </param>
    </group>