From 6a96769efdf3d9ab385605470939dd2ca5f33924 Mon Sep 17 00:00:00 2001
From: Simone Girardi <simone.girardi@iit.it>
Date: Tue, 25 Jan 2022 15:25:19 +0100
Subject: [PATCH 1/2] Update PID gain with the right values for the
 SET_CURRENT_PID message

---
 .../hardware/motorControl/wrist-eb2-j0_2-mc.xml             | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
index 10d811e502..eb4c251744 100644
--- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
+++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
@@ -66,10 +66,10 @@
         <param name="controlLaw">           low_lev_current     </param>
         <param name="fbkControlUnits">      machine_units       </param>
         <param name="outputControlUnits">   machine_units       </param>
-        <param name="kp">                   8       </param>
+        <param name="kp">                   2.0       </param>
         <param name="kd">                   0       </param>
-        <param name="ki">                   2       </param>
-        <param name="shift">                10      </param>
+        <param name="ki">                   500.0       </param>
+        <param name="shift">                0      </param>
         <param name="maxOutput">            32000   </param>
         <param name="maxInt">               32000   </param>
         <param name="kff">                   0      </param>

From eaa6feba81b5c1dcc16652de9c81e436320d6a54 Mon Sep 17 00:00:00 2001
From: Simone Girardi <simone.girardi@iit.it>
Date: Tue, 1 Feb 2022 14:51:38 +0100
Subject: [PATCH 2/2] AMC_BLDC: Update values rotor position LIMITS in order to
 work w/ wrist-setup

---
 .../hardware/mechanicals/wrist-eb2-j0_2-mec.xml               | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
index 42af8b26e4..ad7502f381 100644
--- a/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
+++ b/experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
@@ -21,8 +21,8 @@
     <group name="LIMITS">
         <param name="hardwareJntPosMax">     52          </param>
         <param name="hardwareJntPosMin">    -62          </param>
-        <param name="rotorPosMin">           -20           </param>
-        <param name="rotorPosMax">           20           </param>
+        <param name="rotorPosMin">           0           </param>
+        <param name="rotorPosMax">           0           </param>
     </group>
 
     <group name="2FOC">