From 8369bb2559318898cb35466a492a77f5dfad02bd Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Thu, 17 Feb 2022 15:32:35 +0100
Subject: [PATCH] iCubErzelli03: fix configuration file for the eyelids after
 the upgrade to 20.04

---
 .../hardware/motorControl/face-eb22-j0-mc.xml | 113 ++++++++++--------
 1 file changed, 62 insertions(+), 51 deletions(-)

diff --git a/iCubErzelli03/hardware/motorControl/face-eb22-j0-mc.xml b/iCubErzelli03/hardware/motorControl/face-eb22-j0-mc.xml
index baf27e7233..a805716a13 100644
--- a/iCubErzelli03/hardware/motorControl/face-eb22-j0-mc.xml
+++ b/iCubErzelli03/hardware/motorControl/face-eb22-j0-mc.xml
@@ -2,58 +2,69 @@
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-eb22-j0-mc" type="embObjMotionControl">
 
-    <device xmlns:xi="http://www.w3.org/2001/XInclude" name="face-eb22-j0-mc" type="embObjMotionControl">
-    
-        <xi:include href="../../general.xml" />
-        <xi:include href="../../hardware/electronics/face-eb22-j0-eln.xml" />
-        <xi:include href="../../hardware/mechanicals/face-eb22-j0-mec.xml" />
-        <xi:include href="./face-eb22-j0-mc_service.xml" />
-
-
-        <group name="LIMITS">
-            <param name="jntPosMin">               -5              </param> 
-            <param name="jntPosMax">               +65             </param>
-            <param name="motorOverloadCurrents">   2000            </param>
-            <param name="motorNominalCurrents">    700             </param>
-            <param name="motorPeakCurrents">       1000            </param>
-             <param name="jntVelMax">              1000            </param>
-            <param name="motorPwmLimit">           3300            </param>
-        </group>
+    <xi:include href="../../general.xml" />
+    <xi:include href="../../hardware/electronics/face-eb22-j0-eln.xml" />
+    <xi:include href="../../hardware/mechanicals/face-eb22-j0-mec.xml" />
+    <xi:include href="./face-eb22-j0-mc_service.xml" />
+
+    <!-- joint number                           0                   -->
+    <!-- joint name                                                 -->
+    <group name="LIMITS">
+        <param name="jntPosMin">                -5                  </param>
+        <param name="jntPosMax">                +65                 </param>
+        <param name="motorOverloadCurrents">    2000                </param>
+        <param name="motorNominalCurrents">     700                 </param>
+        <param name="motorPeakCurrents">        1000                </param>
+        <param name="jntVelMax">                1000                </param>
+        <param name="motorPwmLimit">            3300                </param>
+    </group>
+
+    <group name="TIMEOUTS">
+        <param name="velocity">                 100                 </param>
+    </group>
+
+    <group name="IMPEDANCE">
+        <param name="stiffness">                0.0                 </param>
+        <param name="damping">                  0.0                 </param>
+    </group>
     
-        <group name="TIMEOUTS">
-            <param name="velocity">               100          </param>
-        </group>
-
-
-         <group name="CONTROLS">
-           <param name="positionControl">      POS_PID_DEFAULT     </param> 
-           <param name="velocityControl">      none             </param> 
-           <param name="torqueControl">        none             </param>
-            <param name="currentPid">          none             </param> 
-        </group>
-        
-        <group name="IMPEDANCE">
-            <param name="stiffness">          0.0             </param>
-            <param name="damping">            0.0             </param>
-        </group>
-
-        <group name="POS_PID_DEFAULT">
-            <param name="controlLaw">       Pid_inPos_outPwm                </param>    
-            <param name="fbkControlUnits">  metric_units                              </param> 
-            <param name="outputControlUnits">  machine_units                              </param> 
-            <param name="pos_kp">                 1200.00        </param>       
-            <param name="pos_kd">                 0.0             </param>     
-            <param name="pos_ki">                 0.0             </param>         
-            <param name="pos_maxOutput">          3360            </param>  
-            <param name="pos_maxInt">             3360            </param> 
-            <param name="pos_shift">              0               </param>       
-            <param name="pos_ko">                 0               </param>  
-            <param name="pos_stictionUp">         0               </param> 
-            <param name="pos_stictionDwn">        0               </param> 
-            <param name="pos_kff">                0               </param> 
-        </group>
-       
-    </device> 
+    <group name="CONTROLS">
+        <param name="positionControl">          POS_PID_DEFAULT     </param>
+        <param name="velocityControl">          POS_PID_DEFAULT     </param>
+        <param name="mixedControl">             POS_PID_DEFAULT     </param>
+        <param name="torqueControl">            none                </param>
+        <param name="currentPid">               none                </param>
+        <param name="speedPid">                 none                </param>
+    </group>
+
+
+    <!-- default position PID: begin -->
+
+    <group name="POS_PID_DEFAULT">
+        <param name="controlLaw">               minjerk         </param>
+        <param name="outputType">               pwm             </param>
+        <param name="fbkControlUnits">          metric_units    </param>
+        <param name="outputControlUnits">       machine_units   </param>
+        <param name="kp">                       600.00            </param>
+        <param name="kd">                       0.0                 </param>
+        <param name="ki">                       100.0                 </param>
+        <param name="maxOutput">                3360                </param>
+        <param name="maxInt">                   3360                </param>
+        <param name="stictionUp">               0                   </param>
+        <param name="stictionDown">             0                   </param>
+        <param name="kff">                      0                   </param>
+    </group>
     
+    <!-- default position PID: end -->
+
+
+    <!-- other default PIDs: begin -->   
+    <!-- other default PIDs: end -->
+
+
+    <!-- custom PIDs: begin -->    
+    <!-- custom PIDs: end -->
 
+</device>