From e5e639aaa54ff445c822a24f76ad7440adf8f5d5 Mon Sep 17 00:00:00 2001
From: Mattia Fussi <mattia.fussi@iit.it>
Date: Wed, 21 Sep 2022 15:48:45 +0200
Subject: [PATCH] update position pid values of wrist mk2

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

diff --git a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
index 21a457766a..b8fbbfbe4e 100644
--- a/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
+++ b/experimentalSetups/wristmk2_handmk3_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc.xml
@@ -47,9 +47,9 @@
         <param name="outputType">             current               </param>
         <param name="fbkControlUnits">        metric_units          </param>
         <param name="outputControlUnits">     machine_units         </param>
-        <param name="kp">          -30         -30         -30      </param>
-        <param name="kd">          -10         -10         -10      </param>
-        <param name="ki">          -100        -100        -100     </param>
+        <param name="kp">          -67         -67         -67      </param>
+        <param name="kd">          -11         -11         -11      </param>
+        <param name="ki">          -294        -294        -294     </param>
         <param name="maxOutput">    500         500         500     </param>
         <param name="maxInt">       200         200         200     </param>
         <param name="stictionUp">   0           0           0       </param>