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a huge cleanup with a lot robot robot parameters renamed:
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Max -> jntPosMax
Min -> jntPosMin
rotorMax -> rotorPosMax
rotorMin -> rotorPosMin
JointVelocityMax -> jntVelMax
MotorOverloadCurrents -> motorOverloadCurrents
MotorNominalCurrents -> motorNominalCurrents
MotorPeakCurrents -> motorPeakCurrents
MotorPwmLimit -> motorPwmLimit
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@randaz81
randaz81 committed Feb 1, 2016
1 parent 7f40986 commit 6af0c0c
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Showing 537 changed files with 1,593 additions and 1,652 deletions.
6 changes: 3 additions & 3 deletions RobotInterfaceCanTest/control_and_strain2.xml
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</group>
<group name="LIMITS">
<!-- 0 1 -->
<param name="Max"> 100.0 100.0 </param>
<param name="Min"> -100.0 -100.0 </param>
<param name="MotorOverloadCurrents"> 8000 8000 </param>
<param name="jntPosMax"> 100.0 100.0 </param>
<param name="jntPosMin"> -100.0 -100.0 </param>
<param name="motorOverloadCurrents"> 8000 8000 </param>
</group>
<group name="PIDS">
<!-- Proportional Derivative Integral Integral Limit PWM Limit scale factor offset -->
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6 changes: 3 additions & 3 deletions RobotInterfaceCanTest/control_and_strain3.xml
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</group>
<group name="LIMITS">
<!-- 0 1 -->
<param name="Max"> 100.0 100.0 </param>
<param name="Min"> -100.0 -100.0 </param>
<param name="MotorOverloadCurrents"> 8000 8000 </param>
<param name="jntPosMax"> 100.0 100.0 </param>
<param name="jntPosMin"> -100.0 -100.0 </param>
<param name="motorOverloadCurrents"> 8000 8000 </param>
</group>
<group name="PIDS">
<!-- Proportional Derivative Integral Integral Limit PWM Limit scale factor offset -->
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8 changes: 4 additions & 4 deletions experimentalSetups/arm-v3/hardware/motorControl/left_lower_arm-mc4plus16-mc.xml
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<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name indx-distal middle-proximal middle-distal little-fingers -->
<group name="LIMITS">
<param name="Min"> 0 0 0 0 </param>
<param name="jntPosMin"> 0 0 0 0 </param>
<param name="Max"> 90 90 90 90 </param>
<param name="RotorMin"> 0 0 0 0 </param>
<param name="RotorMax"> 0 0 0 0 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
<param name="JntVelocityMax"> 0 0 0 0 </param>
<param name="MotorOverloadCurrents"> 600 600 600 600 </param>
<param name="motorOverloadCurrents"> 600 600 600 600 </param>
</group>


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6 changes: 3 additions & 3 deletions experimentalSetups/face-v3/hardware/motorControl/face-old_mc_hardware.xml
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<!-- TBD: marco.accame: i joints che stiamo usando sono i lib-rigth e lip-left che sono indici 4 e 4 nel face di grenoble ... -->
<group name="LIMITS">
<param name="Min"> -100 -101 -130 -30 -130 -45 </param>
<param name="Max"> +100 +101 +130 +30 +130 +45 </param>
<param name="MotorOverloadCurrents"> 500 501 600 600 600 600 </param>
<param name="jntPosMin"> -100 -101 -130 -30 -130 -45 </param>
<param name="jntPosMax"> +100 +101 +130 +30 +130 +45 </param>
<param name="motorOverloadCurrents"> 500 501 600 600 600 600 </param>
</group>

<group name="IMPEDANCE">
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6 changes: 3 additions & 3 deletions experimentalSetups/face-v3/hardware/motorControl/face0_mc_hardware.xml
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<!-- TBD: marco.accame: i joints che stiamo usando sono i lib-rigth e lip-left che sono indici 4 e 4 nel face di grenoble ... -->
<group name="LIMITS">
<param name="Min"> -100 +65 </param>
<param name="Max"> +100 +220 </param>
<param name="MotorOverloadCurrents"> 500 501 </param>
<param name="jntPosMin"> -100 +65 </param>
<param name="jntPosMax"> +100 +220 </param>
<param name="motorOverloadCurrents"> 500 501 </param>
</group>


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6 changes: 3 additions & 3 deletions experimentalSetups/face-v3/hardware/motorControl/face1_mc_hardware.xml
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<!-- TBD: marco.accame: i joints che stiamo usando sono i lib-rigth e lip-left che sono indici 4 e 4 nel face di grenoble ... -->
<group name="LIMITS">
<param name="Min"> -130 -30 -130 -45 </param>
<param name="Max"> +130 +30 +130 +45 </param>
<param name="MotorOverloadCurrents"> 600 600 600 600 </param>
<param name="jntPosMin"> -130 -30 -130 -45 </param>
<param name="jntPosMax"> +130 +30 +130 +45 </param>
<param name="motorOverloadCurrents"> 600 600 600 600 </param>
</group>

<group name="IMPEDANCE">
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18 changes: 9 additions & 9 deletions experimentalSetups/head_face-v3/hardware/motorControl/face0_mc_hardware.xml
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<!-- joint number in sub-part 0 1 -->
<!-- joint name jaw eyelids -->
<group name="LIMITS">
<param name="Min"> +0 -175 </param>
<param name="Max"> +22 +10 </param>
<param name="RotorMin"> 0 0 </param>
<param name="RotorMax"> 0 0 </param>
<param name="MotorOverloadCurrents"> 600 600 </param>
<param name="MotorNominalCurrents"> 0 0 </param>
<param name="MotorPeakCurrents"> 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 </param>
<param name="MotorPwmLimit"> 3300 3300 </param>
<param name="jntPosMin"> +0 -175 </param>
<param name="jntPosMax"> +22 +10 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
<param name="motorOverloadCurrents"> 600 600 </param>
<param name="motorNominalCurrents"> 0 0 </param>
<param name="motorPeakCurrents"> 0 0 </param>
<param name="jntVelMax"> 1000 1000 </param>
<param name="motorPwmLimit"> 3300 3300 </param>
</group>


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18 changes: 9 additions & 9 deletions experimentalSetups/head_face-v3/hardware/motorControl/face1_mc_hardware.xml
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<!-- joint number in sub-part 0 1 2 3 -->
<!-- joint name lip-right lip-high lip-left lip-bottom -->
<group name="LIMITS">
<param name="Min"> -35 -28 -35 0 </param>
<param name="Max"> +35 +28 +35 +28 </param>
<param name="RotorMin"> 0 0 0 0 </param>
<param name="RotorMax"> 0 0 0 0 </param>
<param name="MotorOverloadCurrents"> 600 600 600 600 </param>
<param name="MotorNominalCurrents"> 0 0 0 0 </param>
<param name="MotorPeakCurrents"> 0 0 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 1000 1000 </param>
<param name="MotorPwmLimit"> 3300 3300 3300 3300 </param>
<param name="jntPosMin"> -35 -28 -35 0 </param>
<param name="jntPosMax"> +35 +28 +35 +28 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
<param name="motorOverloadCurrents"> 600 600 600 600 </param>
<param name="motorNominalCurrents"> 0 0 0 0 </param>
<param name="motorPeakCurrents"> 0 0 0 0 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorPwmLimit"> 3300 3300 3300 3300 </param>
</group>

<group name="IMPEDANCE">
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18 changes: 9 additions & 9 deletions experimentalSetups/head_face-v3/hardware/motorControl/head0_mc_hardware.xml
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<!-- joint logical number 0 1 -->
<!-- joint name neck-pitch neck-roll -->
<group name="LIMITS">
<param name="Min"> -30 -20 </param>
<param name="Max"> +22 +20 </param>
<param name="RotorMin"> 0 0 </param>
<param name="RotorMax"> 0 0 </param>
<param name="MotorOverloadCurrents"> 600 600 </param>
<param name="MotorNominalCurrents"> 0 0 </param>
<param name="MotorPeakCurrents"> 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 </param>
<param name="MotorPwmLimit"> 3300 3300 </param>
<param name="jntPosMin"> -30 -20 </param>
<param name="jntPosMax"> +22 +20 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
<param name="motorOverloadCurrents"> 600 600 </param>
<param name="motorNominalCurrents"> 0 0 </param>
<param name="motorPeakCurrents"> 0 0 </param>
<param name="jntVelMax"> 1000 1000 </param>
<param name="motorPwmLimit"> 3300 3300 </param>
</group>

<group name="IMPEDANCE">
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24 changes: 12 additions & 12 deletions experimentalSetups/head_face-v3/hardware/motorControl/head1_mc_hardware.xml
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<!-- joint name neck-yaw eyes-tilt eyes-vers eyes-verg --> <!-- j2 is right-eye, j3 is left-eye -->
<group name="LIMITS">
<!-- use these limits for version-vergence -->
<param name="Min"> -45 -30 -45 0 </param>
<param name="Max"> +45 +30 +45 +45 </param>
<param name="RotorMin"> 0 0 0 0 </param>
<param name="RotorMax"> 0 0 0 0 </param>
<param name="MotorOverloadCurrents"> 10000 10000 10000 10000 </param>
<param name="MotorNominalCurrents"> 0 0 0 0 </param>
<param name="MotorPeakCurrents"> 0 0 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 1000 1000 </param>
<param name="MotorPwmLimit"> 3300 3300 3300 3300 </param>
<param name="jntPosMin"> -45 -30 -45 0 </param>
<param name="jntPosMax"> +45 +30 +45 +45 </param>
<param name="rotorPosMin"> 0 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 0 </param>
<param name="motorOverloadCurrents"> 10000 10000 10000 10000 </param>
<param name="motorNominalCurrents"> 0 0 0 0 </param>
<param name="motorPeakCurrents"> 0 0 0 0 </param>
<param name="jntVelMax"> 1000 1000 1000 1000 </param>
<param name="motorPwmLimit"> 3300 3300 3300 3300 </param>
<!-- -->

<!-- use these limits for independent movement of eyes
<param name="Min"> -45 -30 -45 -45 </param>
<param name="Max"> +45 +30 +45 +45 </param>
<param name="MotorOverloadCurrents"> 600 600 600 600 </param>
<param name="jntPosMin"> -45 -30 -45 -45 </param>
<param name="jntPosMax"> +45 +30 +45 +45 </param>
<param name="motorOverloadCurrents"> 600 600 600 600 </param>
-->
</group>

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20 changes: 10 additions & 10 deletions experimentalSetups/mc2plus-CER_hand/hardware/motorControl/CERhand_mc_hardware.xml
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<!-- joint number in sub-part 0 1 -->
<!-- joint name first second -->
<group name="LIMITS">
<param name="Min"> 0 0 </param>
<param name="Max"> 160 160 </param>
<param name="RotorMin"> 0 0 </param>
<param name="RotorMax"> 0 0 </param>
<param name="MotorOverloadCurrents"> 600 600 </param>
<param name="MotorOverloadCurrents"> 0 0 </param>
<param name="MotorNominalCurrents"> 0 0 </param>
<param name="MotorPeakCurrents"> 0 0 </param>
<param name="JntVelocityMax"> 1000 1000 </param>
<param name="MotorPwmLimit"> 3300 3300 </param>
<param name="jntPosMin"> 0 0 </param>
<param name="jntPosMax"> 160 160 </param>
<param name="rotorPosMin"> 0 0 </param>
<param name="rotorPosMax"> 0 0 </param>
<param name="motorOverloadCurrents"> 600 600 </param>
<param name="motorOverloadCurrents"> 0 0 </param>
<param name="motorNominalCurrents"> 0 0 </param>
<param name="motorPeakCurrents"> 0 0 </param>
<param name="jntVelMax"> 1000 1000 </param>
<param name="motorPwmLimit"> 3300 3300 </param>
</group>


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6 changes: 3 additions & 3 deletions experimentalSetups/mc4_tripod/hardware/motorControl/icub_left_arm.xml
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</group>

<group name="LIMITS">
<param name="Min"> -0 -0 -0 -0 </param>
<param name="Max"> 120 120 120 120 </param>
<param name="MotorOverloadCurrents"> 1000 800 800 800 </param>
<param name="jntPosMin"> -0 -0 -0 -0 </param>
<param name="jntPosMax"> 120 120 120 120 </param>
<param name="motorOverloadCurrents"> 1000 800 800 800 </param>
</group>

<group name="POS_PIDS">
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12 changes: 6 additions & 6 deletions experimentalSetups/mc4plus-CER_wrist/hardware/motorControl/mc4plusjig_mc_hardware.xml
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<params file="hardware/mechanicals/devmc4plusjig-mc4plus01-mec.xml" />

<group name="LIMITS">
<param name="Max"> 0.12 0.12 0.12 </param> <!-- These are meters, NOT degrees -->
<param name="Min"> 0 0 0 </param>
<param name="RotorMax"> 0 0 0 </param>
<param name="RotorMin"> 0 0 0 </param>
<param name="MotorOverloadCurrents"> 1000 1000 1000 </param>
<param name="JntVelocityMax"> 2817 2817 2817 </param> <!-- to be changed in meters/seconds, now is ticks/second -->
<param name="jntPosMax"> 0.12 0.12 0.12 </param> <!-- These are meters, NOT degrees -->
<param name="jntPosMin"> 0 0 0 </param>
<param name="rotorPosMax"> 0 0 0 </param>
<param name="rotorPosMin"> 0 0 0 </param>
<param name="motorOverloadCurrents"> 1000 1000 1000 </param>
<param name="jntVelMax"> 2817 2817 2817 </param> <!-- to be changed in meters/seconds, now is ticks/second -->
</group>

<group name="IMPEDANCE">
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12 changes: 6 additions & 6 deletions experimentalSetups/mc4plus-jig/hardware/motorControl/mc4plusjig_mc_hardware.xml
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<params file="hardware/mechanicals/devmc4plusjig-mc4plus01-mec.xml" />

<group name="LIMITS">
<param name="Max"> 360 </param>
<param name="Min"> -360 </param>
<param name="RotorMax"> 0 </param>
<param name="RotorMin"> 0 </param>
<param name="MotorOverloadCurrents"> 600 </param>
<param name="JntVelocityMax"> 0 </param>
<param name="jntPosMax"> 360 </param>
<param name="jntPosMin"> -360 </param>
<param name="rotorPosMax"> 0 </param>
<param name="rotorPosMin"> 0 </param>
<param name="motorOverloadCurrents"> 600 </param>
<param name="jntVelMax"> 0 </param>
</group>

<group name="IMPEDANCE">
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