From e8455706466d74a7da67890a1dd86fcf03096b7c Mon Sep 17 00:00:00 2001
From: Divya Shah <divyashah.2801@gmail.com>
Date: Thu, 12 May 2022 17:34:05 +0200
Subject: [PATCH] Removing encoder limits to enable velocity control; ecub
 joint setup

---
 .../5-setup/hardware/mechanicals/5-setup-mec.xml            | 4 ++--
 .../5-setup/hardware/motorControl/5-setup-mc.xml            | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml
index e1ab322742..2aebf254a1 100644
--- a/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml
+++ b/experimentalSetups/5-setup/hardware/mechanicals/5-setup-mec.xml
@@ -19,8 +19,8 @@
     </group>                                                 
                                                              
     <group name="LIMITS">                                    
-        <param name="hardwareJntPosMax">    1800                 </param>
-        <param name="hardwareJntPosMin">   -1800                 </param>
+        <param name="hardwareJntPosMax">    0                 </param>
+        <param name="hardwareJntPosMin">    0                 </param>
         <param name="rotorPosMin">          0                     </param> 
         <param name="rotorPosMax">          0                     </param>
     </group>                                                 
diff --git a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml
index 41f63f25d4..b9a673e742 100644
--- a/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml
+++ b/experimentalSetups/5-setup/hardware/motorControl/5-setup-mc.xml
@@ -12,9 +12,9 @@
     <!-- joint number                           0                ->
     <!-- joint name -->
     <group name="LIMITS">
-        <param name="jntPosMax">                1800               </param>
-        <param name="jntPosMin">               -1800               </param>
-        <param name="jntVelMax">                720                 </param>
+        <param name="jntPosMax">                0               </param>
+        <param name="jntPosMin">                0               </param>
+        <param name="jntVelMax">                7200                 </param>
         <param name="motorNominalCurrents">     1000                </param>
         <param name="motorPeakCurrents">        2000                </param>
         <param name="motorOverloadCurrents">    15000               </param>