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fix for issue:
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robotology/icub-tech-support#483
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@randaz81
randaz81 committed Jun 26, 2017
1 parent a307713 commit 87f9ae6
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Showing 8 changed files with 19 additions and 2 deletions.
2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_head.xml
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<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 11.375 -11.375 11.375 11.375 568.88 284.44 </param>
<param name="Zeros"> 178 -178 178 178 -49 0 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 </param>
<param name="TorqueMax"> 0 0 0 0 0 0 </param>
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6 changes: 4 additions & 2 deletions iCubLisboa01/hardware/motorControl/icub_left_arm.xml
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Expand Up @@ -33,8 +33,10 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 3.666667 </param>
<param name="Zeros"> -205.5 -327 -4.25782 -180 90 -20 -52 526.3636 </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 3.666667 </param>
<param name="Zeros"> -205.5 -327 -4.25782 -180 90 -20 -52 526.3636 </param>
<param name="fullscalePWM"> 800 800 800 800 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 </param>
<param name="TorqueChan"> 0 1 2 3 4 0 0 0 </param>
<param name="TorqueMax"> 8 8 8 8 2 2 2 2 </param>
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2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_left_hand.xml
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Expand Up @@ -35,6 +35,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="Encoder"> 5.50 -2.17 -2.36 -2.33 -2.53 -2.44 -2.39 -2.20 </param>
<param name="Zeros"> 348.18 -108.46 -203.29 -98.57 -183.96 -98.18 -188.37 -322.73 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueMax"> 0 0 0 0 0 0 0 0 </param>
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2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_left_leg.xml
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Expand Up @@ -38,6 +38,8 @@
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C </param>
<param name="TorqueChan"> 0 1 2 3 4 5 </param>
<param name="TorqueMax"> 12 12 12 12 12 12 </param>
<param name="fullscalePWM"> 800 800 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Verbose"> 0 0 0 0 0 0 </param>
<param name="Rotor"> 21.888 21.888 21.888 21.888 21.888 21.888 </param>
<param name="GearBox"> 150 100 100 100 100 100 </param>
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2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_right_arm.xml
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Expand Up @@ -33,6 +33,8 @@
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist pitch" "r_wrist_yaw" "r_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="fullscalePWM"> 800 800 800 800 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Encoder"> 11.375 11.375 11.375 11.375 706.67 978.46 978.46 3.333333 </param>
<param name="Zeros"> 174 31 233.7422 176 90 -20 -52 447 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 </param>
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2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_right_hand.xml
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Expand Up @@ -35,6 +35,8 @@
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 16.67 -2.42 -2.42 -2.53 -2.08 -2.52 -2.39 -2.30 </param>
<param name="Zeros"> 120.00 -98.26 -204.83 -93.95 -230.40 -95.95 -188.37 -306.52 </param>
<param name="fullscalePWM"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueChan"> 0 0 0 0 0 0 0 0 </param>
<param name="TorqueMax"> 0 0 0 0 0 0 0 0 </param>
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2 changes: 2 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_right_leg.xml
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Expand Up @@ -38,6 +38,8 @@
<param name="TorqueId"> 0x0B 0x0B 0x0B 0x0B 0x0B 0x0B </param>
<param name="TorqueChan"> 0 1 2 3 4 5 </param>
<param name="TorqueMax"> 12 12 12 12 12 12 </param>
<param name="fullscalePWM"> 800 800 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 1000.0 1000.0 </param>
<param name="Verbose"> 0 0 0 0 0 0 </param>
<param name="Rotor"> 21.888 21.888 21.888 21.888 21.888 21.888 </param>
<param name="GearBox"> 150 100 100 100 100 100 </param>
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3 changes: 3 additions & 0 deletions iCubLisboa01/hardware/motorControl/icub_torso.xml
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Expand Up @@ -41,6 +41,9 @@
<param name="Verbose"> 0 0 0 0 </param>
<param name="Rotor"> 21.888 21.888 21.888 0 </param>
<param name="GearBox"> 1 1 1 1 </param>
<param name="fullscalePWM"> 800 800 800 800 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 1000.0 </param>

</group>

<group name="VELOCITY">
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