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violadelbonovioladelbono
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fixed arms PIDs , added missing param and fixed syntax in wrappers (#225)
1 parent 5c921bc commit cbfe690

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7 files changed

+22
-15
lines changed

7 files changed

+22
-15
lines changed

‎iCubWaterloo01/hardware/mechanicals/left_arm-eb25-j8_11-mec.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> 256 256 256 256 </param>
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<param name="Gearbox_E2J"> 1 1 1 1 </param>
18-
<param name="useMotorSpeedFbk"> 0 0 0 0 </param>
18+
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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<param name="MotorType"> "DC" "DC" "DC" "DC" </param>
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<param name="Verbose"> 0 </param>
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</group>

‎iCubWaterloo01/hardware/mechanicals/left_arm-eb26-j12_15-mec.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
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<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> 256 256 256 256 </param>
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<param name="Gearbox_E2J"> 1 1 1 1 </param>
18-
<param name="useMotorSpeedFbk"> 0 0 0 0 </param>
18+
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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<param name="MotorType"> "DC" "DC" "DC" "DC" </param>
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<param name="Verbose"> 0 </param>
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</group>

‎iCubWaterloo01/hardware/mechanicals/right_arm-eb28-j8_11-mec.xml

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
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<param name="Gearbox_M2J"> 256 256 256 256 </param>
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<param name="Gearbox_E2J"> 1 1 1 1 </param>
18-
<param name="useMotorSpeedFbk"> 0 0 0 0 </param>
18+
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
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<param name="MotorType"> "DC" "DC" "DC" "DC" </param>
2020
<param name="Verbose"> 0 </param>
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</group>
@@ -31,14 +31,14 @@
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<param name ="matrixJ2M">
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1.000 0.000 0.000 0.000
34-
1.000 +1.000 0.000 0.000
34+
-1.000 +1.000 0.000 0.000
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0.000 0.000 1.000 0.000
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0.000 0.000 0.000 1.000
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</param>
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<param name ="matrixM2J">
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1.000 0.000 0.000 0.000
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-1.000 +1.000 0.000 0.000
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+1.000 +1.000 0.000 0.000
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0.000 0.000 1.000 0.000
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0.000 0.000 0.000 1.000
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</param>

‎iCubWaterloo01/hardware/mechanicals/right_arm-eb29-j12_15-mec.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>
1616
<param name="Gearbox_M2J"> 256 256 256 256 </param>
1717
<param name="Gearbox_E2J"> 1 1 1 1 </param>
18-
<param name="useMotorSpeedFbk"> 0 0 0 0 </param>
18+
<param name="useMotorSpeedFbk"> 1 1 1 1 </param>
1919
<param name="MotorType"> "DC" "DC" "DC" "DC" </param>
2020
<param name="Verbose"> 0 </param>
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</group>

‎iCubWaterloo01/hardware/motorControl/left_arm-eb24-j4_7-mc.xml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -47,9 +47,9 @@
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
50-
<param name="kp"> -1000.0 -500.0 -500.0 -500.0 </param>
51-
<param name="kd"> -25.0 0.0 0.0 0.0 </param>
52-
<param name="ki"> -250.0 -50.0 -50.0 -50.0 </param>
50+
<param name="kp"> -200.0 -500.0 -500.0 -500.0 </param>
51+
<param name="kd"> 0.0 0.0 0.0 0.0 </param>
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<param name="ki"> -200.0 -50.0 -50.0 -50.0 </param>
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<param name="maxOutput"> 3360 3360 3360 3360 </param>
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<param name="maxInt"> 3360 3360 3360 3360 </param>
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<param name="stictionUp"> 0 0 0 0 </param>
@@ -67,7 +67,7 @@
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<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
70-
<param name="kp"> -900 0 0 0 </param>
70+
<param name="kp"> -1000 0 0 0 </param>
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<param name="kd"> 0 0 0 0 </param>
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<param name="ki"> 0 0 0 0 </param>
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<param name="maxOutput"> 3360 0 0 0 </param>

‎iCubWaterloo01/hardware/motorControl/right_arm-eb27-j4_7-mc.xml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -47,9 +47,9 @@
4747
<param name="outputType"> pwm </param>
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<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
50-
<param name="kp"> 1000.0 500.0 500.0 500.0 </param>
51-
<param name="kd"> 25.0 0.0 0.0 0.0 </param>
52-
<param name="ki"> 2500.0 50.0 50.0 50.0 </param>
50+
<param name="kp"> 200.0 500.0 500.0 500.0 </param>
51+
<param name="kd"> 0.0 0.0 0.0 0.0 </param>
52+
<param name="ki"> 200.0 50.0 50.0 50.0 </param>
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<param name="maxOutput"> 3360 3360 3360 3360 </param>
5454
<param name="maxInt"> 3360 3360 3360 3360 </param>
5555
<param name="stictionUp"> 0 0 0 0 </param>
@@ -67,7 +67,7 @@
6767
<param name="outputType"> pwm </param>
6868
<param name="fbkControlUnits"> metric_units </param>
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<param name="outputControlUnits"> machine_units </param>
70-
<param name="kp"> 900 0 0 0 </param>
70+
<param name="kp"> 1000 0 0 0 </param>
7171
<param name="kd"> 0 0 0 0 </param>
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<param name="ki"> 0 0 0 0 </param>
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<param name="maxOutput"> 3360 0 0 0 </param>

‎iCubWaterloo01/icub_all.xml

Lines changed: 8 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -51,10 +51,17 @@
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<!-- INERTIAL SENSOR-->
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<xi:include href="wrappers/inertials/head-imuFilter_wrapper.xml" />
54-
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
54+
<xi:include href="wrappers/inertials/head-imuFilter.xml" />
5555
<xi:include href="wrappers/inertials/head-inertials_wrapper.xml" />
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<xi:include href="hardware/inertials/head-inertial.xml" />
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58+
<xi:include href="wrappers/inertials/waist-inertials_remapper.xml" />
59+
<xi:include href="wrappers/inertials/waist-inertials_wrapper.xml" />
60+
<xi:include href="wrappers/inertials/waist-inertials_wrapper-deprecated.xml" />
61+
<xi:include href="hardware/inertials/waist-inertial.xml" />
62+
<xi:include href="hardware/inertials/waist-eb5-inertials.xml" />
63+
64+
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<!-- ANALOG SENSOR MAIS -->
5966
<xi:include href="wrappers/MAIS/left_arm-mais_wrapper.xml" />
6067
<xi:include href="wrappers/MAIS/right_arm-mais_wrapper.xml" />

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