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renamed several calibrator parameters (positionZero, VelocityZero, ma…
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…xPwm, posZeroThreshold) to avoid warnings.
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@randaz81
randaz81 committed Apr 29, 2016
1 parent b38427c commit 77606ac
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Showing 172 changed files with 749 additions and 749 deletions.
8 changes: 4 additions & 4 deletions experimentalSetups/face-v3/calibrators/face_calib.xml
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<param name="calibration1"> 666 666 250.0 250.0 250.0 500.0 </param> <!-- calib 4 -> used pwm -->
<param name="calibration2"> 999 999 3640.88 3640.88 3640.88 3640.88 </param> <!-- calib 4 -> vel of come back in icubdeg/sec (20 deg/sec) -->
<param name="calibration3"> 0 0 24211.85 5461.32 24211.85 9284.24 </param> <!-- calib 4 -> pos of reached hw limit in icubdeg (133 deg) (30 deg) (133 deg) (51 deeg) (1 ideg = 182.044) -->
<param name="positionZero"> 15 0 0.0 0.0 0.0 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="velocityZero"> 10 10 20.0 20.0 20.0 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="maxPwm"> 0 0 500 500 500 500 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="posZeroThreshold"> 90 90 2 2 2 2 </param> <!-- tolerance of position in deg relative to positionZero param -->
<param name="startupPosition"> 15 0 0.0 0.0 0.0 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="startupVelocity"> 10 10 20.0 20.0 20.0 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="startupMaxPwm"> 0 0 500 500 500 500 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="startupPosThreshold"> 90 90 2 2 2 2 </param> <!-- tolerance of position in deg relative to positionZero param -->
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8 changes: 4 additions & 4 deletions experimentalSetups/mc4_tripod/calibrators/left_arm_calib.xml
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<param name="calibration1"> 0047.5 1047.5 2047.5 2047.5 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 2555.9625 1082.525 2555.9625 2982.525 </param>
<param name="positionZero"> 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 </param>
<param name="maxPwm"> 120 120 120 120 </param>
<param name="posZeroThreshold"> 200 2 2 200 </param>
<param name="startupPosition"> 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 120 120 </param>
<param name="startupPosThreshold"> 200 2 2 200 </param>
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8 changes: 4 additions & 4 deletions experimentalSetups/mc4plus-jig_2boards_mais/calibrators/mc4plusjig_calib.xml
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<param name="calibration1"> 250 </param> <!-- used pwm -->
<param name="calibration2"> 37319.02 </param> <!-- pos of reached hw limit in icubdeg (205 deg) -->
<param name="calibration3"> 0.0 </param>
<param name="positionZero"> 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="velocityZero"> 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="maxPwm"> 500 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="posZeroThreshold"> 2 </param> <!-- tolerance of position in deg relative to positionZero param -->
<param name="startupPosition"> 0.0 </param> <!-- target position in deg after high level calib is terminated -->
<param name="startupVelocity"> 20.0 </param> <!-- and its velocity in deg/sec -->
<param name="startupMaxPwm"> 500 </param> <!-- max pwm used in calib (it is a pid param)-->
<param name="startupPosThreshold"> 2 </param> <!-- tolerance of position in deg relative to positionZero param -->
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8 changes: 4 additions & 4 deletions experimentalSetups/panHead/calibrators/head_calib.xml
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<param name="calibration1"> 2047.5 2047.5 900 900 </param>
<param name="calibration2"> 10 10 20 20 </param>
<param name="calibration3"> 2770.95 3139.5 0 0 </param>
<param name="positionZero"> 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 </param>
<param name="maxPwm"> 600 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 180 180 </param>
<param name="startupPosition"> 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 </param>
<param name="startupMaxPwm"> 600 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 180 180 </param>
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8 changes: 4 additions & 4 deletions experimentalSetups/single_joint_BLL_FT/calibrators/left_leg_calib.xml
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<param name="calibration1"> 2047.5 </param>
<param name="calibration2"> 0 </param>
<param name="calibration3"> 2555.9625 </param>
<param name="positionZero"> 15 </param>
<param name="velocityZero"> 10 </param>
<param name="maxPwm"> 120 </param>
<param name="posZeroThreshold"> 2 </param>
<param name="startupPosition"> 15 </param>
<param name="startupVelocity"> 10 </param>
<param name="startupMaxPwm"> 120 </param>
<param name="startupPosThreshold"> 2 </param>
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8 changes: 4 additions & 4 deletions experimentalSetups/single_joint_BLL_FT/calibrators/left_leg_calib_bak2.xml
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<param name="calibration1"> 2047.5 2047.5 </param>
<param name="calibration2"> 0 0 </param>
<param name="calibration3"> 2555.9625 2982.525 </param>
<param name="positionZero"> 15 0 </param>
<param name="velocityZero"> 10 10 </param>
<param name="maxPwm"> 120 120 </param>
<param name="posZeroThreshold"> 2 2 </param>
<param name="startupPosition"> 15 0 </param>
<param name="startupVelocity"> 10 10 </param>
<param name="startupMaxPwm"> 120 120 </param>
<param name="startupPosThreshold"> 2 2 </param>
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8 changes: 4 additions & 4 deletions experimentalSetups/single_joint_MC4/calibrators/left_arm_calib.xml
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<param name="calibration1"> 0047.5 1047.5 2047.5 2047.5 </param>
<param name="calibration2"> 0 0 0 0 </param>
<param name="calibration3"> 2555.9625 1082.525 2555.9625 2982.525 </param>
<param name="positionZero"> 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 </param>
<param name="maxPwm"> 120 120 120 120 </param>
<param name="posZeroThreshold"> 200 2 2 200 </param>
<param name="startupPosition"> 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 120 120 </param>
<param name="startupPosThreshold"> 200 2 2 200 </param>
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8 changes: 4 additions & 4 deletions iCubAberystwyth01/calibrators/head_calib.xml
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<param name="calibration1"> 1333 1333 1333 600 500 500 </param>
<param name="calibration2"> 40 40 40 -20 20 20 </param>
<param name="calibration3"> 0 0 0 0 0 0 </param>
<param name="positionZero"> 0 0 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 10 10 </param>
<param name="maxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="posZeroThreshold"> 2 2 180 2 180 180 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 1300 1300 1330 1300 1300 1300 </param>
<param name="startupPosThreshold"> 2 2 180 2 180 180 </param>
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8 changes: 4 additions & 4 deletions iCubAberystwyth01/calibrators/left_arm_calib.xml
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<param name="calibration1"> 2388.75 3241.875 -275.933 1535.625 500 750 750 1790 </param>
<param name="calibration2"> 10 10 10 10 20 -10 -10 100 </param>
<param name="calibration3"> 1583.5 1598.875 567.125 3157.5 0 0 0 0 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 30 30 100 </param>
<param name="maxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 90 90 </param>
<param name="startupPosition"> -30 30 0 45 0 0 0 15 </param>
<param name="startupVelocity"> 10 10 10 10 30 30 30 100 </param>
<param name="startupMaxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 </param>
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8 changes: 4 additions & 4 deletions iCubAberystwyth01/calibrators/left_hand_calib.xml
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<param name="calibration1"> 536.67 255 10 240 55 240 40 735 </param>
<param name="calibration2"> 10 10 30 10 10 10 10 10 </param>
<param name="calibration3"> 0 6000 -6600 6000 7400 6000 -7400 -21000 </param>
<param name="positionZero"> 30 3 0 0 0 0 0 0 </param>
<param name="velocityZero"> 100 100 100 100 100 100 100 100 </param>
<param name="maxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="posZeroThreshold"> 90 90 90 90 90 90 90 90 </param>
<param name="startupPosition"> 30 3 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 100 100 100 100 100 100 100 100 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 90 90 90 90 90 90 90 90 </param>
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8 changes: 4 additions & 4 deletions iCubAberystwyth01/calibrators/left_leg_calib.xml
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<param name="calibration1"> 2047.5 2047.5 2047.5 2047.5 2047.5 2047.5 </param>
<param name="calibration2"> 10 10 10 10 10 10 </param>
<param name="calibration3"> 181.5 537.5 3506.5 3447.5 1025.5 2913.5 </param>
<param name="positionZero"> 0 0 0 0 0 0 </param>
<param name="velocityZero"> 10 10 10 10 10 10 </param>
<param name="maxPwm"> 120 120 120 120 120 120 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 </param>
<param name="startupPosition"> 0 0 0 0 0 0 </param>
<param name="startupVelocity"> 10 10 10 10 10 10 </param>
<param name="startupMaxPwm"> 120 120 120 120 120 120 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 </param>
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8 changes: 4 additions & 4 deletions iCubAberystwyth01/calibrators/right_arm_calib.xml
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<param name="calibration1"> 1706.25 853.13 2795.32 2559.38 500.00 750.00 750.00 2520.00 </param>
<param name="calibration2"> 10.00 10.00 10.00 10.00 -20.00 10.00 10.00 100.00 </param>
<param name="calibration3"> 1676.50 320.13 1605.50 3270.50 0.00 0.00 0.00 0.00 </param>
<param name="positionZero"> -30 30 0 45 0 0 0 15 </param>
<param name="velocityZero"> 10 10 10 10 30 10 10 100 </param>
<param name="maxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="posZeroThreshold"> 2 2 2 2 2 2 90 90 </param>
<param name="startupPosition"> -30 30 0 45 0 0 0 15 </param>
<param name="startupVelocity"> 10 10 10 10 30 10 10 100 </param>
<param name="startupMaxPwm"> 120 120 120 120 0 0 0 0 </param>
<param name="startupPosThreshold"> 2 2 2 2 2 2 90 90 </param>
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