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Add aksim to pitch, roll and elbow
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@valegagge
valegagge committed Apr 11, 2024
1 parent 520b1cb commit ecf533b
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Showing 4 changed files with 13 additions and 13 deletions.
2 changes: 1 addition & 1 deletion experimentalSetups/upperArmSetup/calibrators/upper_arm-calib.xml
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Expand Up @@ -18,7 +18,7 @@

<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 12 </param>
<param name="calibration1"> 58242 57062 0 36471 </param>
<param name="calibration1"> 58242 57062 0 36880 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 0 0 0 0 </param>
<param name="calibration4"> 0 0 0 0 </param>
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18 changes: 9 additions & 9 deletions experimentalSetups/upperArmSetup/hardware/motorControl/upper_arm-eb1-j0_1-mc_service.xml
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Expand Up @@ -34,21 +34,21 @@
<param name="port"> CAN1:1:0 CAN1:2:0 </param>
</group>

<!-- <group name="ENCODER1">
<group name="ENCODER1">
<param name="type"> eomc_enc_aksim2 eomc_enc_aksim2 </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> -524288 -524288 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group> -->
</group>

<group name="ENCODER1">
<param name="type"> none none </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 524288 524288 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group>
<!-- <group name="ENCODER1">
<param name="type"> eomc_enc_aksim2 none </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> -524288 524288 </param>
<param name="tolerance"> 0.703 0.703 </param>
</group> -->

<group name="ENCODER2">
<param name="type"> mrie mrie </param>
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4 changes: 2 additions & 2 deletions experimentalSetups/upperArmSetup/hardware/motorControl/upper_arm-eb3-j2_3-mc.xml
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Expand Up @@ -51,9 +51,9 @@
<param name="fbkControlUnits"> metric_units </param>
<param name="outputControlUnits"> machine_units </param>
<param name="kff"> 0 0 </param>
<param name="kp"> -1000 1000 </param>
<param name="kp"> -1000 -1000 </param>
<param name="kd"> 0 0 </param>
<param name="ki"> -1000 1000 </param>
<param name="ki"> -1000 -1000 </param>
<param name="maxOutput"> 8000 8000 </param>
<param name="maxInt"> 2000 2000 </param>
<param name="stictionUp"> 0 0 </param>
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2 changes: 1 addition & 1 deletion experimentalSetups/upperArmSetup/hardware/motorControl/upper_arm-eb3-j2_3-mc_service.xml
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Expand Up @@ -43,7 +43,7 @@
</group> -->

<group name="ENCODER1">
<param name="type"> none none </param>
<param name="type"> none eomc_enc_aksim2 </param>
<param name="port"> CONN:P6 CONN:P8 </param>
<param name="position"> atjoint atjoint </param>
<param name="resolution"> 524288 524288 </param>
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