icub_right_arm_raw.ini

// by MAGGIA 14-05-09
// Initialization file for robot arm, 8 dof on can bus controller.
//
[CAN]
CanAddresses 1 2 
CanDeviceNum		0
CanMyAddress		0
NetworkId                       RIGHTARM 
CanPollingInterval	10
CanTimeout		300
CanRxTimeout    500
CanTxTimeout    500
broadcast_pos      	1  1 
broadcast_pid      	1  1
broadcast_fault    	1  1
broadcast_current  	1  1
broadcast_overflow 	1  1
broadcast_canprint 	1  1
broadcast_vel_acc  	0  0

[GENERAL] 
Joints 4
MaxDAC 100.0 100.0 100.0 100.0
 
AxisMap       0        1       2        3         
Encoder  11.375   11.375   11.375  11.375    
//Encoder     1        1       1        1     
Zeros       0.0      0.0     0.0      0.0   
   
Verbose 1

[LIMITS]
//       0       1       2       3      
Max    360     360     360     360   
Min   -360    -360    -360    -360

Currents 3000 3000 3000 3000

[PIDS]
Pid0    30     50  0 500 500 3 0 
Pid1    40     50  0 500 500 3 0
Pid2    40     50  0 500 500 3 0
Pid3    10     50  0 500 500 3 0

[VELOCITY]
Shifts 8 8 8 8

[CALIBRATION]
//Joint              0	       1       2       3
CalibrationType      3         3       3       3
Calibration1       0.0       0.0     0.0     0.0   
Calibration2       5.0       5.0     5.0     5.0     
Calibration3       0.0       0.0     0.0     0.0     
PositionZero       0.0      90.0     0.0    45.0    
VelocityZero       5.0       5.0     5.0     5.0      

[HOME]
//Joint             0	  1 	  2      3      
PositionHome    -25.8  20.0     0.0     50
VelocityHome     10.0  10.0    10.0   10.0


[ENDINI] // do not remove this line!