AMC – Update config files for lego-setup (#387)

robotology · Sep 26, 2022 · c8d3684 · c8d3684
1 parent 2e53737
commit c8d3684
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
@@ -28,8 +28,8 @@
     <group name="2FOC">
         <param name="HasHallSensor">         1            </param>
         <param name="HasTempSensor">         0            </param>
-        <param name="HasRotorEncoder">       1            </param>
-        <param name="HasRotorEncoderIndex">  1            </param>
+        <param name="HasRotorEncoder">       0            </param>
+        <param name="HasRotorEncoderIndex">  0            </param>
         <param name="HasSpeedEncoder">       0            </param>
         <param name="RotorIndexOffset">      0            </param>
         <param name="MotorPoles">            14           </param>

diff --git a/...rimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml b/...rimentalSetups/lego_setup_amc_amcbldc/hardware/motorControl/wrist-eb2-j0_2-mc_service.xml
@@ -14,7 +14,7 @@
             </group>
 
             <group name="CANBOARDS">
-                <param name="type">                 amcbldc         </param>
+                <param name="type">                 amcbldc     </param>
                 <group name="PROTOCOL">
                     <param name="major">            0           </param>
                     <param name="minor">            0           </param>
@@ -35,17 +35,17 @@
 
                 <group name="ENCODER1">
                     <param name="type">             eomc_enc_aea      </param>
-                    <param name="port">             CONN:J5_X1         </param>
+                    <param name="port">             CONN:J5_X1        </param>
                     <param name="position">         eomc_pos_atjoint  </param>
                     <param name="resolution">       4096              </param>
                     <param name="tolerance">        0.4               </param>
                 </group>
 
                 <group name="ENCODER2">
-                    <param name="type">             roie              </param>
+                    <param name="type">             none              </param>
                     <param name="port">             CAN1:1:0          </param>
                     <param name="position">         atmotor           </param>
-                    <param name="resolution">       16000             </param>
+                    <param name="resolution">        0                </param>
                     <param name="tolerance">         0                </param>
                 </group>