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ergoCubSN000: update left right thumb oc position pids (robotology#547)
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@mfussi66
mfussi66 committed Jul 24, 2023
1 parent bd297b9 commit b5f213b
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Showing 2 changed files with 6 additions and 6 deletions.
6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/left_arm-eb23-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -200 -246 -246 -200 </param>
<param name="kd"> -10 0 0 -10 </param>
<param name="ki"> -10 -33 -33 -10 </param>
<param name="kp"> -246 -246 -246 -200 </param>
<param name="kd"> 0 0 0 -10 </param>
<param name="ki"> -33 -33 -33 -10 </param>
<param name="maxOutput"> 2700 2700 2700 2700 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/motorControl/right_arm-eb22-j7_10-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@
<param name="outputType"> pwm </param>
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kp"> -200 -246 -246 -200 </param>
<param name="kd"> -10 0 0 -10 </param>
<param name="ki"> -10 -33 -33 -10 </param>
<param name="kp"> -246 -246 -246 -200 </param>
<param name="kd"> 0 0 0 -10 </param>
<param name="ki"> -33 -33 -33 -10 </param>
<param name="maxOutput"> 2700 2700 2700 2700 </param>
<param name="maxInt"> 1000 1000 1000 1000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
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