From 1066b78a45e2bff443700586772716d38a0a3e8c Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Thu, 15 Sep 2016 18:40:41 +0200
Subject: [PATCH] Added absolute position and velocity port
---
tor_bringup/config/tor_hardware.yaml | 2 ++
tor_controller_configuration/config/tb_sine_sweep.yaml | 7 +++++++
2 files changed, 9 insertions(+)
create mode 100644 tor_controller_configuration/config/tb_sine_sweep.yaml
diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index 535234a..127342b 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -1,11 +1,13 @@
actuators:
raw_data:
position_port: act_position
+ velocity_port: act_velocity
effort_port: act_current
mode_port: act_control_mode
position_cmd_port: ref_position
effort_cmd_port: ref_current
mode_cmd_port: ref_control_mode
+ absolute_encoder_position_port: act_abs_position
torque_sensor_port: act_torque
e_stop:
diff --git a/tor_controller_configuration/config/tb_sine_sweep.yaml b/tor_controller_configuration/config/tb_sine_sweep.yaml
new file mode 100644
index 0000000..f0da830
--- /dev/null
+++ b/tor_controller_configuration/config/tb_sine_sweep.yaml
@@ -0,0 +1,7 @@
+tb_torque:
+ type: "ModuleTestbenchTorqueControl"
+
+ dt: 0.001
+
+ joints:
+ - leg_1_joint
--
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