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[ergoCubSN000] New incremental calibration for torso joints (robotolo…
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…gy#577)
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@AntonioConsilvio @valegagge
AntonioConsilvio authored and valegagge committed Apr 11, 2024
1 parent ed1292c commit 40bd3fc
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Showing 3 changed files with 12 additions and 11 deletions.
15 changes: 8 additions & 7 deletions ergoCubSN000/calibrators/torso-calib.xml
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<group name="CALIBRATION">
<!-- roll pitch yaw -->
<param name="calibrationType"> 12 12 12 </param>
<param name="calibrationType"> 10 10 10 </param>

<param name="calibration1"> 38354 67734 6013 </param>
<param name="calibration1"> 6500 -6500 2500 </param>
<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>


<param name="calibration4"> 0 0 0 </param>
<param name="calibration5"> 0 0 0 </param>
<param name="calibrationZero"> 0 0 0 </param>
<param name="calibrationDelta"> -0.939 2.917 0 </param>
<param name="calibrationZero"> 24.903 -21.847 -46.606 </param>
<param name="calibrationDelta"> 0 0 0 </param>


<param name="startupPosition"> 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 </param>
<param name="startupMaxPwm"> 5500 5500 5500 </param>
<param name="startupPosThreshold"> 2 2 2 </param>
</group>

<!-- Joint 1 has been removed from the calibration order for motor safety -->
<!-- <param name="CALIB_ORDER">(0) (1) (2) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(0) (1) (2) </param>

<!-- <param name="CALIB_ORDER">(2) (1) (0) </param> --> <!-- Don't remove this line -->
<param name="CALIB_ORDER">(2) (1) (0) </param>

<action phase="startup" level="10" type="calibrate">
<param name="target">torso-eb5-j0_2-mc</param>
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6 changes: 3 additions & 3 deletions ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml
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<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> 100.0 160.0 -100.0 </param>
<param name="Gearbox_E2J"> 1 1 1 </param>
<param name="Gearbox_E2J"> 64 64 64 </param>
<param name="useMotorSpeedFbk"> 1 1 1 </param>
<param name="MotorType"> "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900576" </param>
<param name="MotorType"> "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900576" </param>
<param name="Verbose"> 0 </param>
</group>

<group name="LIMITS">
<param name="hardwareJntPosMax"> 25 65 45 </param>
<param name="hardwareJntPosMin"> -25 -20 -45 </param>
<param name="hardwareJntPosMin"> -25 -20 -45 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
</group>
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2 changes: 1 addition & 1 deletion ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc_service.xml
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<param name="type"> amo amo amo </param>
<param name="port"> CONN:P7 CONN:P8 CONN:P6 </param>
<param name="position"> atjoint atjoint atjoint </param>
<param name="resolution"> 1048576 1048576 1048576 </param>
<param name="resolution"> 16384 16384 16384 </param>
<param name="tolerance"> 0.703 0.703 0.703 </param>
</group>

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