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Fix ergoCub wrist gear ratios (robotology#570)
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@pattacini @valegagge
pattacini authored and valegagge committed Apr 11, 2024
1 parent 075abd9 commit afe99b3
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Showing 4 changed files with 8 additions and 8 deletions.
4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
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<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -384.44 -384.44 -384.44 </param>
<param name="Gearbox_E2J"> 1.778 1.778 1.778 </param>
<param name="Gearbox_M2J"> -392.0 -392.0 -392.0 </param>
<param name="Gearbox_E2J"> 2.0 2.0 2.0 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN000/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -384.44 -384.44 -384.44 </param>
<param name="Gearbox_E2J"> 1.778 1.778 1.778 </param>
<param name="Gearbox_M2J"> -392.0 -392.0 -392.0 </param>
<param name="Gearbox_E2J"> 2.0 2.0 2.0 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/mechanicals/left_arm-eb31-j4_6-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -384.44 -384.44 -384.44 </param>
<param name="Gearbox_E2J"> 1.778 1.778 1.778 </param>
<param name="Gearbox_M2J"> -392.0 -392.0 -392.0 </param>
<param name="Gearbox_E2J"> 2.0 2.0 2.0 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
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4 changes: 2 additions & 2 deletions ergoCubSN001/hardware/mechanicals/right_arm-eb30-j4_6-mec.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
<param name="ampsToSensor"> 1000.0 1000.0 1000.0 </param>
<param name="Gearbox_M2J"> -384.44 -384.44 -384.44 </param>
<param name="Gearbox_E2J"> 1.778 1.778 1.778 </param>
<param name="Gearbox_M2J"> -392.0 -392.0 -392.0 </param>
<param name="Gearbox_E2J"> 2.0 2.0 2.0 </param>
<param name="useMotorSpeedFbk"> 0 0 0 </param>
<param name="MotorType"> "FAULHABER" "FAULHABER" "FAULHABER" </param>
<param name="Verbose"> 0 </param>
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