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Copy pathicub_right_arm_shoulderOnly_computed_sensor.ini
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icub_right_arm_shoulderOnly_computed_sensor.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
broadcast_pid_err 1 1 1 1
[analog right_arm] [analog right_arm]
CanAddress 0x0D
Format 16 //STRAIN BOARD
Channels 6
Period 1 //ms
UseCalibration 1
[analog joint_right_arm]
CanAddress 0x0C
Format 16 //STRAIN BOARD
Channels 6
Period 1 //ms
UseCalibration 1
CanEcho 1
PortName /joint_vsens/right_arm:i
[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 45 225.742 180
TorqueId 0x0C 0x0C 0x0C 0x0C
TorqueChan 0 1 2 3
TorqueMax 8 8 8 8
Verbose 0
[VELOCITY]
Shifts 8 8 8 8
// 0 1 2 3
[LIMITS]
JntPosMax 10 161 60 106
jntPosMin -95.5 0 -60 0
// Joint
Currents 3000 3000 3000 3000
// 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
[TORQUE_PIDS]
TPid0 10 0 0 1333 1333 10 0
TPid1 15 0 0 1333 1333 10 0
TPid2 55 0 0 1333 1333 10 0
TPid3 55 0 0 1333 1333 10 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
MaxPWM 61 62 63 64
[HOME]
// Joint 0 1 2 3
PositionHome -30 30 0 45
VelocityHome 10 10 10 10
[ENDINI] // do not remove this line!