[iCubSingapore01] Fix Gearbox values (robotology#556)

valegagge · Apr 11, 2024 · 9487695 · 9487695
1 parent 3cbb392
commit 9487695
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml b/iCubSingapore01/hardware/mechanicals/left_leg-eb6-j0_3-mec.xml
@@ -11,7 +11,7 @@
         <param name="Encoder">         182.044       182.044       182.044       182.044       </param>     
         <param name="fullscalePWM">   32000         32000         32000         32000    </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0           1000.0      </param>
-        <param name="Gearbox_M2J">   	-100.0         100.0        -100.0         -100.0      </param>
+        <param name="Gearbox_M2J">   	-150.0         100.0        -100.0         -100.0      </param>
         <param name="Gearbox_E2J">   	1             1             1              1           </param>
         <param name="useMotorSpeedFbk"> 1             1             1              1           </param>
         <param name="MotorType">       "BLL_MOOG"     "BLL_MOOG"   "BLL_MOOG"    "BLL_MOOG"   </param>

diff --git a/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml b/iCubSingapore01/hardware/mechanicals/right_leg-eb8-j0_3-mec.xml
@@ -12,7 +12,7 @@
         <param name="Encoder">         182.044       182.044       182.044       182.044   </param>
         <param name="fullscalePWM">   32000         32000         32000         32000    </param>
         <param name="ampsToSensor">     1000.0        1000.0        1000.0        1000.0      </param>
-        <param name="Gearbox_M2J">      100.00        -100.00       100.00        100.00   </param>
+        <param name="Gearbox_M2J">      150.00        -100.00       100.00        100.00   </param>
         <param name="Gearbox_E2J">   	1             1             1              1       </param>
         <param name="useMotorSpeedFbk"> 1             1             1              1       </param>
         <param name="MotorType">       "BLL_MOOG"     "BLL_MOOG"   "BLL_MOOG"  "BLL_MOOG" </param>