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New low level parameters
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iCubGenova09 committed Mar 1, 2022
1 parent de1aaf1 commit 17e7fd0
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Showing 2 changed files with 28 additions and 28 deletions.
32 changes: 16 additions & 16 deletions iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml
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Expand Up @@ -113,22 +113,22 @@

<!-- custom PIDs: begin -->
<group name="TRQ_PID_OUTPUT_CURR">
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 100 -0 0 </param>
<param name="kd"> 0 0 0 </param>
<param name="ki"> 30 -0 0 </param>
<param name="maxOutput"> 2500 2500 2500 </param>
<param name="maxInt"> 200 200 200 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 3.7 0 0 </param>
<param name="stictionDown"> 9.3 0 0 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> 0.001 -0.0 0.0 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> 108 -50 50 </param>
<param name="controlLaw"> torque </param>
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 250 -500 0 </param>
<param name="kd"> 0 0 0 </param>
<param name="ki"> 300 -550 0 </param>
<param name="maxOutput"> 5000 3000 5000 </param>
<param name="maxInt"> 1000 1000 1000 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 2.7 -6.6 3.92 </param>
<param name="stictionDown"> 10.7 -2.9 3.39 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> 0.001 -0.001 0.00086 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> 115 -270 340 </param>
</group>

<!-- custom PIDs: end -->
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24 changes: 12 additions & 12 deletions iCubGenova09/hardware/motorControl/right_leg-eb12-j3_5-mc.xml
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Expand Up @@ -116,18 +116,18 @@
<param name="outputType"> current </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> 0 5000 1000 </param>
<param name="kd"> 0 50 0 </param>
<param name="ki"> 0 500 1000 </param>
<param name="maxOutput"> 2500 10000 2500 </param>
<param name="maxInt"> 200 5000 200 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 0 7 0 </param>
<param name="stictionDown"> 0 7 0 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> 0.00 0.0005 0.0003 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> 50.0 163.9 227.739 </param>
<param name="kp"> 0 5000 1000 </param>
<param name="kd"> 0 50 0 </param>
<param name="ki"> 0 500 1000 </param>
<param name="maxOutput"> 3000 10000 2500 </param>
<param name="maxInt"> 1000 5000 200 </param>
<param name="ko"> 0 0 0 </param>
<param name="stictionUp"> 8.24 8.3 2.25 </param>
<param name="stictionDown"> 8.34 7.8 1.65 </param>
<param name="kff"> 1 1 1 </param>
<param name="kbemf"> 0.0011 0.0008 0.0003 </param>
<param name="filterType"> 0 0 0 </param>
<param name="ktau"> 140 160 250 </param>
</group>
<!-- custom PIDs: end -->

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