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[ergoCubSN00x] Hip Roll maxOutput tuning #593

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merged 1 commit into from
Nov 22, 2023
Merged

[ergoCubSN00x] Hip Roll maxOutput tuning #593

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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@
<param name="kp"> -5000 7000 -3000 -10000 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -1500 5000 -200 -1500 </param>
<param name="maxOutput"> 12000 12000 12000 16000 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxInt"> 1500 5000 750 2000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@
<param name="kp"> 5000 -25000 3000 10000 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 1500 -5000 200 1500 </param>
<param name="maxOutput"> 12000 11000 12000 16000 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxInt"> 1500 5000 2000 2000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/left_leg-eb8-j0_3-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@
<param name="kp"> -5000 7000 -3000 -10000 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> -1500 5000 -200 -1500 </param>
<param name="maxOutput"> 12000 12000 12000 16000 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxInt"> 1500 5000 750 2000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
Expand Down
2 changes: 1 addition & 1 deletion ergoCubSN001/hardware/motorControl/right_leg-eb6-j0_3-mc.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@
<param name="kp"> 5000 -25000 3000 10000 </param>
<param name="kd"> 0 0 0 0 </param>
<param name="ki"> 1500 -5000 200 1500 </param>
<param name="maxOutput"> 12000 11000 12000 16000 </param>
<param name="maxOutput"> 12000 10000 12000 16000 </param>
<param name="maxInt"> 1500 5000 2000 2000 </param>
<param name="stictionUp"> 0 0 0 0 </param>
<param name="stictionDown"> 0 0 0 0 </param>
Expand Down