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[ergoCubSN001] Enable the temperature control for the robot legs and …
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…torso (#621)
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@GiulioRomualdi
GiulioRomualdi committed Feb 29, 2024
1 parent 4dab0f8 commit aad3460
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Showing 10 changed files with 15 additions and 15 deletions.
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_leg-eb8-j0_3-mec.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/left_leg-eb9-j4_5-mec.xml
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Expand Up @@ -30,7 +30,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_leg-eb6-j0_3-mec.xml
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Expand Up @@ -32,7 +32,7 @@
<param name="AutoCalibration"> 0 0 0 0 </param>
<param name="Verbose"> 0 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/right_leg-eb7-j4_5-mec.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="AutoCalibration"> 0 0 </param>
<param name="Verbose"> 0 0 </param>
<param name="HasHallSensor"> 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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Expand Up @@ -29,7 +29,7 @@
<param name="Verbose"> 0 0 0 </param>
<param name="AutoCalibration"> 0 0 0 </param>
<param name="HasHallSensor"> 0 0 0 </param>
<param name="TemperatureSensorType"> NONE NONE NONE </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="TemperatureSensorType"> PT100 PT100 PT100 </param> <!-- if using set it to PT100. HasTempSensor is gonna be deprecated -->
<param name="HasRotorEncoder"> 1 1 1 </param>
<param name="HasRotorEncoderIndex"> 1 1 1 </param>
<param name="HasSpeedEncoder"> 0 0 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
<param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/left_leg-eb9-j4_5-mc.xml
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Expand Up @@ -18,8 +18,8 @@
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
<param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
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Expand Up @@ -19,8 +19,8 @@
<param name="motorPeakCurrents"> 20000 20000 10000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 15000 20000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
<param name="hardwareTemperatureLimits"> 110 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/right_leg-eb7-j4_5-mc.xml
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Expand Up @@ -18,8 +18,8 @@
<param name="motorPeakCurrents"> 15000 15000 </param>
<param name="motorOverloadCurrents"> 30000 30000 </param>
<param name="motorPwmLimit"> 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
<param name="hardwareTemperatureLimits"> 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/motorControl/torso-eb5-j0_2-mc.xml
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Expand Up @@ -20,8 +20,8 @@
<param name="motorPeakCurrents"> 14000 17000 10000 </param>
<param name="motorOverloadCurrents"> 18000 18000 15000 </param>
<param name="motorPwmLimit"> 16000 16000 16000 </param>
<!-- <param name="hardwareTemperatureLimits"> 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 </param> keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
<param name="hardwareTemperatureLimits"> 110 110 110 </param>
<param name="warningTemperatureLimits"> 90 90 90 </param> <!-- keep commented until TemperatureSensorType is not ENABLE by setting it different from NONE-->
</group>

<group name="TIMEOUTS">
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