Commit 5f5769f7 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Modif definition of kp and kd

parent 3fcab5e9
......@@ -44,13 +44,9 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">0</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -59,6 +55,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.238</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FLHFE">
<command_interface name="position">
......@@ -73,13 +71,9 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">3</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -88,6 +82,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.308</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FLK">
<command_interface name="position">
......@@ -102,13 +98,9 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">2</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -117,6 +109,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.276</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FRHAA">
<command_interface name="position">
......@@ -131,13 +125,9 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">1</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -146,6 +136,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.115</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FRHFE">
<command_interface name="position">
......@@ -160,13 +152,9 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">5</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -175,6 +163,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">-0.584</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FRK">
<command_interface name="position">
......@@ -185,13 +175,13 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="kp"/>
<command_interface name="kd"/>
<command_interface name="acceleration">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="kp"/>
<state_interface name="kd"/>
<param name="motor_number">4</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -200,6 +190,8 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">0.432</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<sensor name="IMU">
<state_interface name="gyroscope"/>
......
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