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iCubGenova01 - Update right thumb configuration #310

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Merged
merged 2 commits into from
Nov 19, 2021
Merged

iCubGenova01 - Update right thumb configuration #310

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iCubGenova01 - Update right thumb calibration
xEnVrE Nov 19, 2021
896ba45
iCubGenova01 - Update right hand thumb opposition and proximal PID an…
xEnVrE Nov 19, 2021
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2 changes: 1 addition & 1 deletion iCubGenova01/calibrators/right_hand_calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1742.4 255.0 5.0 196.0 13.0 207.0 22.0 627.0 </param>
<param name="calibration1"> 1742.4 180.0 5.0 196.0 13.0 207.0 22.0 627.0 </param>
<param name="calibration2"> 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
<param name="calibration3"> 0.0 6000.0 6600.0 6000.0 -7000.0 6000.0 7000.0 14000.0 </param>
<param name="startupPosition"> 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
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10 changes: 5 additions & 5 deletions iCubGenova01/hardware/motorControl/icub_right_hand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,10 +31,10 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal" "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 6.844 -2.567 -2.453 -2.078 -2.365 -2.300 -2.359 -1.716 </param>
<param name="Zeros"> 244.58 -99.35 -172.04 -94.33 -175.50 -90.00 -179.33 -365.38 </param>
<param name="Encoder"> 6.844 -1.8 -2.441 -2.078 -2.365 -2.300 -2.359 -1.716 </param>
<param name="Zeros"> 244.58 -100.0 -172.05 -94.33 -175.50 -90.00 -179.33 -365.38 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="ampsToSensor"> 600.0 600.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>

<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -60,8 +60,8 @@
</group>

<group name="POS_PIDS">
<param name="kp"> -8000 -8000 8000 -8000 -8000 -8000 8000 -120 </param>
<param name="kd"> -32000 -32000 32000 -32000 -32000 -32000 32000 -1250 </param>
<param name="kp"> -6000 -6000 8000 -8000 -8000 -8000 8000 -120 </param>
<param name="kd"> -26000 -26000 32000 -32000 -32000 -32000 32000 -1250 </param>
<param name="ki"> -5 -5 5 -5 -5 -5 5 0 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
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