Merge branch 'master' into devel

Author: pattacini

R1SN003/calibrators/left_arm-calib.xml

@@ -26,7 +26,7 @@
 			<param name="calibrationDelta">       0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
 			<param name="startupPosition">        34                 50              -10         90        0.0          0.0           0.0           0.0          5.0         5.0          5.0         5.0            5.0     </param>
 			<param name="startupVelocity">        10.0               10.0            10.0        10.0      10.0         10.0          10.0          100.0        100.0       100.0        100         100.0          100.0   </param>
-			<param name="startupMaxPwm">          8000               8000            8000        8000      16000        16000         16000         0            0           0            0           0              0       </param>
+			<param name="startupMaxPwm">          8000               8000            8000        14000     16000        16000         16000         0            0           0            0           0              0       </param>
 			<param name="startupPosThreshold">    2                  2               2           2         2            2             2             5            5           5            5           5              5       </param>
 		</group>
 

R1SN003/hardware/motorControl/left_arm-eb4-j2_3-mc.xml

@@ -11,13 +11,13 @@
     <!-- joint number                           0                   1                   -->
     <!-- joint name                          shoulder_yaw          elbow                -->
     <group name="LIMITS">
-        <param name="jntPosMax">                80                  105                  </param>
+        <param name="jntPosMax">                80                  105                 </param>
         <param name="jntPosMin">                -50                 -3                  </param>
         <param name="jntVelMax">                120                 120                 </param>
-        <param name="motorNominalCurrents">     8000                5000                </param>
-        <param name="motorPeakCurrents">        10000               9000                </param>
+        <param name="motorNominalCurrents">     8000                8000                </param>
+        <param name="motorPeakCurrents">        10000               10000               </param>
         <param name="motorOverloadCurrents">    15000               15000               </param>
-        <param name="motorPwmLimit">            8000                8000                </param>
+        <param name="motorPwmLimit">            8000                14000               </param>
         <param name="hardwareTemperatureLimits"> 110                110                 </param>
         <param name="warningTemperatureLimits">  90                 90                  </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
     </group>
@@ -52,7 +52,7 @@
         <param name="kp">                       1000               -1000                </param>
         <param name="kd">                       0                   0                   </param>
         <param name="ki">                       1000               -1000                </param>
-        <param name="maxOutput">                8000                8000                </param>
+        <param name="maxOutput">                8000                14000               </param>
         <param name="maxInt">                   1000                1000                </param>
         <param name="stictionUp">               0                   0                   </param>
         <param name="stictionDown">             0                   0                   </param>