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[ergoCubSN001] Enabling index adduction #653

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merged 1 commit into from
May 22, 2024
Merged

[ergoCubSN001] Enabling index adduction #653

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2 changes: 1 addition & 1 deletion ergoCubSN001/calibrators/left_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
<param name="calibration5"> 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 15.0 5.0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/calibrators/right_arm-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,14 +25,14 @@
<param name="calibration5"> 0 0 0 0 0 0 0 0 25030 0 1230 20000 18350 </param>
<param name="calibrationZero"> 35 -15 -52 -5 0 0 0 0 0 0 0 0 0 </param>
<param name="calibrationDelta"> 0 0 0 0 0 0 0 0 0 0 0 0 0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 5.0 5.0 5.0 15.0 5.0 </param>
<param name="startupPosition"> 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0 </param>
<param name="startupVelocity"> 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 2 5 5 5 5 5 5 </param>
</group>

<!-- <param name="CALIB_ORDER"> (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (10 11 12) </param>
<param name="CALIB_ORDER">(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12) </param>


<action phase="startup" level="10" type="calibrate">
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