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icub_right_arm.ini
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// Initialization file for robot right_arm, 8 dof on can bus controller.
//
[CAN]
CanAddresses 1 2 3 4
CanDeviceNum 0
NetworkId RIGHTARM
CanMyAddress 0
CanPollingInterval 10
CanTimeout 300
CanTxTimeout 500
CanRxTimeout 500
broadcast_pos 1 1 1 1
broadcast_pid 1 1 1 1
broadcast_fault 1 1 1 1
broadcast_current 0 0 0 0
broadcast_overflow 1 1 1 1
broadcast_canprint 1 1 1 1
broadcast_vel_acc 0 0 0 0
[GENERAL]
Joints 4 // the number of joints of the robot part
// 0 1 2 3
MaxDAC 100 100 100 100
// 0 1 2 3
AxisMap 0 1 2 3
Encoder 11,375 11,375 11,375 11,375
Zeros 180 45 245,742 180
Verbose 0
[VELOCITY]
Shifts 8 8 8 8
// 0 1 2 3
[LIMITS]
JntPosMax 10 161 80 106
jntPosMin -95,5 0 -37 5,5
// Joint
Currents 7000 7000 7000 7000
// Proportional Derivative Integral Integral Limit PWM Limit scale factor >> offset
[PIDS]
Pid0 32000 50 60 1333 1333 13 0
Pid1 32000 50 60 1333 1333 13 0
Pid2 10000 0 10 1333 1333 13 0
Pid3 32000 20 60 1333 1333 13 0
[CALIBRATION]
// Joint 0 1 2 3
CalibrationType 3 3 3 3
Calibration1 1706,25 853,125 2795,32 2558
Calibration2 10 10 10 10
Calibration3 1638 492,538 2905,18 485,713
PositionZero -30 30 0 45
VelocityZero 10 10 10 10
[HOME]
// Joint 0 1 2 3
PositionHome -30 30 0 45
VelocityHome 10 10 10 10
[ENDINI] // do not remove this line!