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Copy pathicub_right_arm_handOnly_raw.ini
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icub_right_arm_handOnly_raw.ini
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// by MAGGIA
// Initialization file for robot right_arm, 8 dof on can bus controller.
//
[CAN]
CanAddresses 3 4 5 6 7 8
CanDeviceNum 0
NetworkId RIGHTARM
CanMyAddress 0
CanPollingInterval 10
CanTimeout 300
CanTxTimeout 500
CanRxTimeout 500
broadcast_pos 1 1 1 1 1 1 1 1 1 1 1 1
broadcast_pid 0 0 0 0 0 0 0 0 0 0 0 0
broadcast_fault 1 1 1 1 1 1 1 1 1 1 1 1
broadcast_current 0 0 0 0 0 0 0 0 0 0 0 0
broadcast_overflow 1 1 1 1 1 1 1 1 1 1 1 1
broadcast_canprint 1 1 1 1 1 1 1 1 1 1 1 1
broadcast_vel_acc 0 0 0 0 0 0 0 0 0 0 0 0
[analog right_arm]
CanAddress 14 //STRAIN BOARD
Format 8
Channels 16
Period 10 //ms
[GENERAL]
Joints 12 // the number of joints of the robot part
// 0 1 2 3 4 5 6 7 8 9 10 11
AxisMap 0 1 2 3 4 5 6 7 8 9 10 11
Encoder 1 1 1 1 1 1 1 1 1 1 1 1
Zeros 0 0 0 0 0 0 0 0 0 0 0 0
Verbose 0
[VELOCITY]
Shifts 8 8 8 8 8 8 8 8 8 8 8 8
// 0 1 2 3 4 5 6 7 8 9 10 11
[LIMITS]
JntPosMax 90 25 40 60 90 90 180 90 180 90 180 270
jntPosMin -90 -90 -20 0 0 0 0 0 0 0 0 0
// Joint 0 1 2 3 4 5 6 7 8 9 10 11
Currents 360 500 500 500 485 485 485 485 485 485 485 485
// Proportional Derivative Integral Integral Limit PWM Limit scale factor >> offset
[PIDS]
Pid0 200 1000 1 1333 1333 6 0
Pid1 1000 10000 1 1333 633 5 0
Pid2 1000 10000 1 1333 633 8 0
Pid3 200 200 1 1333 633 4 0
Pid4 -8000 -32000 -5 1333 1333 10 0
Pid5 -8000 -32000 -5 1333 1333 10 0
Pid6 8000 32000 5 1333 1333 10 0
Pid7 -8000 -32000 -5 1333 1333 10 0
Pid8 -8000 -32000 -5 1333 1333 10 0
Pid9 -8000 -32000 -5 1333 1333 10 0
Pid10 8000 32000 5 1333 1333 10 0
Pid11 120 1250 0 1333 1333 5 0
[CALIBRATION]
// Joint 0 1 2 3 4 5 6 7 8 9 10 11
CalibrationType 0 3 3 3 3 4 4 4 4 4 4 4
Calibration1 500 2047.5 2047.5 500 480 231 0 231 10 238 30 738
Calibration2 -20 10 10 100 10 10 30 10 10 10 10 10
Calibration3 0 466.375 693.875 0 0 6000 6800 6000 -7200 6000 7100 14000
PositionZero 0 0 0 15 30 0 0 0 0 0 0 0
VelocityZero 30 30 30 100 100 100 100 100 100 100 100 100
[HOME]
// Joint 0 1 2 3 4 5 6 7 8 9 10 11
PositionHome 0 0 40 15 30 0 0 0 0 0 0 0
VelocityHome 30 30 30 100 10 10 10 10 10 10 10 10
[ENDINI] // do not remove this line!