Commit 90ff5697 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

New def of gain_kp and gain_kd

parent 508d78fa
......@@ -44,9 +44,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">0</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -55,8 +65,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.238</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FLHFE">
<command_interface name="position">
......@@ -71,9 +79,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">3</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -82,8 +100,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${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">
......@@ -98,9 +114,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">2</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -109,8 +135,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.276</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FRHAA">
<command_interface name="position">
......@@ -125,9 +149,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">1</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -136,8 +170,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${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">
......@@ -152,9 +184,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">5</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -163,8 +205,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">-0.584</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint>
<joint name="FRK">
<command_interface name="position">
......@@ -179,9 +219,19 @@
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="gain_kp">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<command_interface name="gain_kd">
<param name="min">-1000</param>
<param name="max">1000</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">4</param>
<param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param>
......@@ -190,8 +240,6 @@
<param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${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"/>
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment