From 4f2944375fc1708e5c7d6e03e820161551abacb6 Mon Sep 17 00:00:00 2001
From: Simone Girardi <simone.girardi@iit.it>
Date: Tue, 22 Feb 2022 12:13:11 +0100
Subject: [PATCH 1/2] Update config files for wrist-amc_bldc-setup

---
 .../hardware/motorControl/wrist-eb2-j0_2-mc.xml               | 4 ++--
 1 file changed, 2 insertions(+), 2 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 eb4c251744..2d1ccf94d3 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
@@ -16,8 +16,8 @@
         <param name="jntPosMin">               -60              </param>
         <param name="jntVelMax">                90              </param>
         <param name="motorNominalCurrents">     1000            </param>
-        <param name="motorPeakCurrents">        1500            </param>
-        <param name="motorOverloadCurrents">    1000            </param>
+        <param name="motorPeakCurrents">        400             </param>
+        <param name="motorOverloadCurrents">    2000            </param>
         <param name="motorPwmLimit">            16000           </param>
     </group>
 

From d9dcb684e68acddac4bdbb1100829506c3970fbc Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Tue, 22 Feb 2022 13:14:54 +0100
Subject: [PATCH 2/2] Update
 experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml

---
 .../hardware/motorControl/wrist-eb2-j0_2-mc.xml                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 2d1ccf94d3..a6a79dad0b 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
@@ -16,7 +16,7 @@
         <param name="jntPosMin">               -60              </param>
         <param name="jntVelMax">                90              </param>
         <param name="motorNominalCurrents">     1000            </param>
-        <param name="motorPeakCurrents">        400             </param>
+        <param name="motorPeakCurrents">        1000            </param>
         <param name="motorOverloadCurrents">    2000            </param>
         <param name="motorPwmLimit">            16000           </param>
     </group>