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Hard stop calibration configuration for iCubGenova09 legs. #307

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Merged
merged 1 commit into from
Nov 12, 2021
Merged

Hard stop calibration configuration for iCubGenova09 legs. #307

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34 changes: 15 additions & 19 deletions iCubGenova09/calibrators/left_leg-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,27 +15,23 @@



<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param> <!--
<param name="calibration1"> 24444 29251 18367 -46782 -13812 -47721 </param> -->
<param name="calibration1"> 40461 29421 50502 -13781 15352 -34276 </param>

<param name="calibration2"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibrationDelta"> -2.53 -4.738 1.254 0.0 0.0 -2.813</param>

<param name="startupPosition"> 5 15 0 -20 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 3000 3000 3000 3000 3000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
<group name="CALIBRATION">
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> -4000 4500 -2500 -2000 2500 -2000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<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"> 93.5 119 80.761 5.273 -46.150 24.456 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="startupPosition"> 90 20 0 -70 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER"> (0) (1) (2) (3) (4) (5) </param>
<param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">left_leg-mc_wrapper</param>
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33 changes: 15 additions & 18 deletions iCubGenova09/calibrators/right_leg-calib.xml
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Expand Up @@ -9,32 +9,29 @@
</group>

<group name="HOME">
<param name="positionHome"> 0.00 5.00 0.00 -5.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
<param name="positionHome"> 0.00 5.00 0.00 -5.00 0.00 0.00 </param>
<param name="velocityHome"> 10.00 10.00 10.00 10.00 10.00 10.00 </param>
</group>



<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 12 12 </param> <!--
<param name="calibration1"> -46315 -27486 -21455 29918 27285 7866 </param> -->
<param name="calibration1"> -46203 -26675 -54991 28574 -21495 9657 </param>
<param name="calibration2"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration3"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationType"> 10 10 10 10 10 10 </param>
<param name="calibration1"> 4000 -4500 2500 2000 -2500 2000 </param>
<param name="calibration2"> 0.0 0.0 0 0 0 0 </param>
<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"> 93.5 119 80.761 5.273 -46.150 24.456 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 </param>

<param name="calibration4"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibration5"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="calibrationZero"> 0.0 0.0 0.0 0.0 0.0 0.0 </param>

<param name="calibrationDelta"> 10.890 -4.182 3.323 -5.416 0.0 -6.539</param>

<param name="startupPosition"> 5 15 0 -20.0 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="startupMaxPwm"> 3000 3000 3000 3000 3000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
<param name="startupPosition"> 90 20 0 -70 0 0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10 10 10 </param>
<param name="startupMaxPwm"> 12000 8000 3000 8000 4000 3000 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
</group>

<param name="CALIB_ORDER">(0) (1) (2) (3) (4) (5)</param>
<param name="CALIB_ORDER"> (4) (5) (2) (3) (0) (1) </param>
<!-- (1) (2) (3) (4) (5) -->

<action phase="startup" level="10" type="calibrate">
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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml
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Expand Up @@ -12,14 +12,14 @@
<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_E2J"> 1 1 1 </param>
<param name="Gearbox_E2J"> 64 64 64 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" </param>
<param name="Verbose">0</param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 114 118 80.5 </param>
<param name="hardwareJntPosMax"> 94 120 80.5 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/mechanicals/left_leg-eb8-j3_5-mec.xml
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Expand Up @@ -12,7 +12,7 @@
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -100.0 -100.00 -100.00 </param>
<param name="Gearbox_E2J"> 1 1 1 </param>
<param name="Gearbox_E2J"> 64 64 32 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" </param>

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10 changes: 5 additions & 5 deletions iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml
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Expand Up @@ -13,7 +13,7 @@
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.00 -100.00 100.0 </param>
<param name="Gearbox_E2J"> 1 1 1</param>
<param name="Gearbox_E2J"> 64 64 64 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" </param>

Expand All @@ -22,10 +22,10 @@

<group name="LIMITS">
<!-- 0 1 2 -->
<param name="hardwareJntPosMax"> 114 118 80.5 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
<param name="hardwareJntPosMax"> 94 120 80.5 </param>
<param name="hardwareJntPosMin"> -47 -20 -80.5 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>

<group name="2FOC">
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/mechanicals/right_leg-eb12-j3_5-mec.xml
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Expand Up @@ -12,7 +12,7 @@
<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_E2J"> 1 1.0 1.0 </param>
<param name="Gearbox_E2J"> 64 64 32 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900580" "MOOG_C2900580" "MOOG_C2900575" </param>
<param name="Verbose"> 0 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc.xml
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Expand Up @@ -12,7 +12,7 @@
<!-- joint number 0 1 0 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 110 100 70 </param>
<param name="jntPosMax"> 90 100 70 </param>
<param name="jntPosMin"> -40 -5 -70 </param>
<param name="jntVelMax"> 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/left_leg-eb7-j0_2-mc_service.xml
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Expand Up @@ -39,7 +39,7 @@
<param name="type"> amo amo amo </param>
<param name="port"> CONN:P6 CONN:P7 CONN:P8 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> 1048576 1048576 1048576 </param>
<param name="resolution"> 16384 16384 16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/left_leg-eb8-j3_5-mc_service.xml
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Expand Up @@ -38,7 +38,7 @@
<param name="type"> amo amo amo </param>
<param name="port"> CONN:P7 CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> -1048576 1048576 -1048576 </param>
<param name="resolution"> -16384 16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
</group>

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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
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Expand Up @@ -12,7 +12,7 @@
<!-- joint number 0 1 0 -->
<!-- joint name -->
<group name="LIMITS">
<param name="jntPosMax"> 110 100 70 </param>
<param name="jntPosMax"> 90 100 70 </param>
<param name="jntPosMin"> -40 -5 -70 </param>
<param name="jntVelMax"> 240 240 240 </param>
<param name="motorNominalCurrents"> 15000 15000 5000 </param>
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2 changes: 1 addition & 1 deletion iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc_service.xml
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Expand Up @@ -39,7 +39,7 @@
<param name="type"> amo amo amo </param>
<param name="port"> CONN:P6 CONN:P7 CONN:P8 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> -1048576 -1048576 -1048576 </param>
<param name="resolution"> -16384 -16384 -16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
</group>

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4 changes: 2 additions & 2 deletions iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc_service.xml
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Expand Up @@ -38,8 +38,8 @@
<param name="type"> amo amo amo </param>
<param name="port"> CONN:P7 CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> 1048576 -1048576 1048576 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
<param name="resolution"> 16384 -16384 16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
</group>

<group name="ENCODER2">
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