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fixed missing parameters
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@randaz81
iCub User authored and randaz81 committed Apr 28, 2016
1 parent 5887c9d commit 1ab7eba
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Showing 14 changed files with 57 additions and 29 deletions.
2 changes: 1 addition & 1 deletion iCubGenova01/hardware/skin/right_arm.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<device name="right_arm_skin" type="canBusSkin">
<params file="general.xml" />

<params robot="iCubGenova01" build="1">
<params robot="iCubGenova01" build="1">
<param name="canDeviceNum"> 8 </param>
<param name="skinCanIds"> 14 13 12 11 10 9 8 </param>
<param name="period"> 10 </param>
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9 changes: 6 additions & 3 deletions iCubMunich01/hardware/motorControl/icub_head.xml
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Expand Up @@ -37,6 +37,8 @@
<param name="Verbose"> 0 0 0 0 0 0 </param>
<param name="Rotor"> 1 1 1 1 1 1 </param>
<param name="GearBox"> 1 1 1 1 1 1 </param>
<param name="AxisName"> "neck_pitch" "neck_roll" "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
</group>

<group name="VELOCITY">
Expand All @@ -51,14 +53,15 @@
<group name="LIMITS">
<param name="jntPosMin"> -30 -20 -45 -30 -30 0 </param>
<param name="jntPosMax"> 22 20 45 30 30 50 </param>
<param name="Currents"> 2000 2000 1200 620 600 600 </param>
<param name="motorOverloadCurrents"> 2000 2000 1200 620 600 600 </param>
<param name="motorPwmLimit"> 1333 1333 1333 1333 1333 1333 </param>
</group>

<group name="POS_PIDS">
<param name="kp"> 50 50 10 40 100 100 </param>
<param name="kd"> 500 500 700 400 1000 1000 </param>
<param name="ki"> 1 1 2 1 1 1 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 4 4 4 4 4 4 </param>
<param name="ko"> 0 0 0 0 0 0 </param>
Expand All @@ -70,7 +73,7 @@
<param name="kp"> 0 0 0 0 0 0 </param>
<param name="kd"> 0 0 0 0 0 0 </param>
<param name="ki"> 0 0 0 0 0 0 </param>
<param name="maxPwm"> 0 0 0 0 0 0 </param>
<param name="maxOutput"> 0 0 0 0 0 0 </param>
<param name="maxInt"> 0 0 0 0 0 0 </param>
<param name="shift"> 0 0 0 0 0 0 </param>
<param name="ko"> 0 0 0 0 0 0 </param>
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9 changes: 6 additions & 3 deletions iCubMunich01/hardware/motorControl/icub_left_arm.xml
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Expand Up @@ -29,6 +29,8 @@
<group name="GENERAL">
<param name="Joints"> 8 </param>
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow" "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> -11.375 -11.375 -11.375 -11.375 -706.67 -978.46 -978.46 3.5 </param>
<param name="Zeros"> -189 -331 23.25782 -184 90 -13.9 -34.6 305.2941 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0 0 0 </param>
Expand All @@ -51,14 +53,15 @@
<group name="LIMITS">
<param name="jntPosMin"> -95.5 0 -30 15 -90 -80 -20 0 </param>
<param name="jntPosMax"> 10 161 75 106 90 25 25 60 </param>
<param name="Currents"> 7000 7000 7000 7000 500 800 800 800 </param>
<param name="motorOverloadCurrents"> 7000 7000 7000 7000 500 800 800 800 </param>
<param name="motorPwmLimit"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
</group>

<group name="POS_PIDS">
<param name="kp"> 32000 32000 10000 32000 200 100 100 -200 </param>
<param name="kd"> 50 50 0 20 1000 100 100 -200 </param>
<param name="ki"> 60 60 10 60 1 2 2 -1 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 13 13 13 13 6 6 6 4 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -70,7 +73,7 @@
<param name="kp"> -7 -7 -30 -30 -50 0 0 0 </param>
<param name="kd"> 0 0 0 0 0 0 0 0 </param>
<param name="ki"> 0 0 0 0 0 0 0 0 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 10 10 10 10 10 10 10 10 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
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9 changes: 6 additions & 3 deletions iCubMunich01/hardware/motorControl/icub_left_hand.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
<group name="GENERAL">
<param name="Joints"> 8 </param>
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="AxisName"> "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal" "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 22.00 -2.50 -2.31 -2.59 -2.36 -2.62 -2.28 -1.83 </param>
<param name="Zeros"> 31.82 -96.00 -188.67 -93.86 -184.25 -93.81 -195.33 -368.58 </param>
<param name="TorqueId"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -51,14 +53,15 @@
<group name="LIMITS">
<param name="jntPosMin"> 10 0 0 0 0 0 0 0 </param>
<param name="jntPosMax"> 90 90 170 90 170 90 170 250 </param>
<param name="Currents"> 485 485 485 485 485 485 485 485 </param>
<param name="motorOverloadCurrents"> 485 485 485 485 485 485 485 485 </param>
<param name="motorPwmLimit"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
</group>

<group name="POS_PIDS">
<param name="kp"> -8000 -8000 8000 -8000 8000 -8000 -8000 -120 </param>
<param name="kd"> -32000 -32000 32000 -32000 32000 -32000 -32000 -1250 </param>
<param name="ki"> -5 -5 5 -5 5 -5 -5 0 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 10 10 10 8 10 10 10 5 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -70,7 +73,7 @@
<param name="kp"> 0 0 0 0 0 0 0 0 </param>
<param name="kd"> 0 0 0 0 0 0 0 0 </param>
<param name="ki"> 0 0 0 0 0 0 0 0 </param>
<param name="maxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="maxOutput"> 0 0 0 0 0 0 0 0 </param>
<param name="maxInt"> 0 0 0 0 0 0 0 0 </param>
<param name="shift"> 0 0 0 0 0 0 0 0 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
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7 changes: 5 additions & 2 deletions iCubMunich01/hardware/motorControl/icub_left_leg.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@


<?xml version="1.0" encoding="UTF-8" ?>
<devices>
<devices robot="iCubMunich01" build="1">
<device name="left_leg_mc" type="canmotioncontrol">
<group name="CAN">
<param name="canbusdevice"> sharedcan </param>
Expand Down Expand Up @@ -29,6 +29,8 @@
<group name="GENERAL">
<param name="Joints"> 6 </param>
<param name="AxisMap"> 2 3 0 1 4 5 </param>
<param name="AxisName"> "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee" "l_ankle_pitch" "l_ankle_roll"</param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 11.375 11.375 11.375 11.375 11.375 11.375 </param>
<param name="Zeros"> 180.00 182.00 180.00 180.00 180.00 180.00 </param>
<param name="TorqueId"> 0x0C 0x0C 0x0C 0x0C 0x0C 0x0C </param>
Expand All @@ -51,7 +53,8 @@
<group name="LIMITS">
<param name="jntPosMin"> -30 0 -40 -120 -25 -15 </param>
<param name="jntPosMax"> 90 90 65 0 30 25 </param>
<param name="motorOverloadCurrents"> 7000 7000 7000 7000 7000 7000 </param>
<param name="motorOverloadCurrents"> 7000 7000 7000 7000 7000 7000 </param>
<param name="motorPwmLimit"> 1333 1333 1333 1333 1333 1333 </param>
</group>

<group name="POS_PIDS">
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9 changes: 6 additions & 3 deletions iCubMunich01/hardware/motorControl/icub_right_arm.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@

<group name="GENERAL">
<param name="Joints"> 8 </param>
<param name="AxisName"> "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow" "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" "revolute" </param>
<param name="AxisMap"> 0 1 2 3 4 5 6 7 </param>
<param name="Encoder"> 11.375 11.375 11.375 11.375 706.67 978.46 978.46 3.666667 </param>
<param name="Zeros"> 170.5 31 224.7422 175 93 -20 -40 255 </param>
Expand All @@ -51,14 +53,15 @@
<group name="LIMITS">
<param name="jntPosMin"> -95.5 0 -30 15 -90 -80 -20 0 </param>
<param name="jntPosMax"> 10 161 75 106 90 25 25 60 </param>
<param name="Currents"> 7000 7000 7000 7000 500 800 800 800 </param>
<param name="motorOverloadCurrents"> 7000 7000 7000 7000 500 800 800 800 </param>
<param name="motorPwmLimit"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
</group>

<group name="POS_PIDS">
<param name="kp"> 32000 32000 10000 32000 200 100 100 200 </param>
<param name="kd"> 50 50 0 20 1000 100 100 200 </param>
<param name="ki"> 60 60 10 60 1 2 2 1 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 13 13 13 13 6 6 6 4 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
Expand All @@ -70,7 +73,7 @@
<param name="kp"> 7 7 30 30 50 0 0 0 </param>
<param name="kd"> 0 0 0 0 0 0 0 0 </param>
<param name="ki"> 0 0 0 0 0 0 0 0 </param>
<param name="maxPwm"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxOutput"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="maxInt"> 1333 1333 1333 1333 1333 1333 1333 1333 </param>
<param name="shift"> 10 10 10 10 10 10 10 10 </param>
<param name="ko"> 0 0 0 0 0 0 0 0 </param>
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