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 @@ ...@@ -44,9 +44,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">0</param> <param name="motor_number">0</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -55,8 +65,6 @@ ...@@ -55,8 +65,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.238</param> <param name="position_offset">0.238</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<joint name="FLHFE"> <joint name="FLHFE">
<command_interface name="position"> <command_interface name="position">
...@@ -71,9 +79,19 @@ ...@@ -71,9 +79,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">3</param> <param name="motor_number">3</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -82,8 +100,6 @@ ...@@ -82,8 +100,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.308</param> <param name="position_offset">-0.308</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<joint name="FLK"> <joint name="FLK">
<command_interface name="position"> <command_interface name="position">
...@@ -98,9 +114,19 @@ ...@@ -98,9 +114,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">2</param> <param name="motor_number">2</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -109,8 +135,6 @@ ...@@ -109,8 +135,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.276</param> <param name="position_offset">0.276</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<joint name="FRHAA"> <joint name="FRHAA">
<command_interface name="position"> <command_interface name="position">
...@@ -125,9 +149,19 @@ ...@@ -125,9 +149,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">1</param> <param name="motor_number">1</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -136,8 +170,6 @@ ...@@ -136,8 +170,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.115</param> <param name="position_offset">-0.115</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<joint name="FRHFE"> <joint name="FRHFE">
<command_interface name="position"> <command_interface name="position">
...@@ -152,9 +184,19 @@ ...@@ -152,9 +184,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">5</param> <param name="motor_number">5</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -163,8 +205,6 @@ ...@@ -163,8 +205,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${false}</param> <param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">-0.584</param> <param name="position_offset">-0.584</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<joint name="FRK"> <joint name="FRK">
<command_interface name="position"> <command_interface name="position">
...@@ -179,9 +219,19 @@ ...@@ -179,9 +219,19 @@
<param name="min">-1</param> <param name="min">-1</param>
<param name="max">1</param> <param name="max">1</param>
</command_interface> </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="position"/>
<state_interface name="velocity"/> <state_interface name="velocity"/>
<state_interface name="acceleration"/> <state_interface name="acceleration"/>
<state_interface name="gain_kp"/>
<state_interface name="gain_kd"/>
<param name="motor_number">4</param> <param name="motor_number">4</param>
<param name="gear_ratio">9.</param> <param name="gear_ratio">9.</param>
<param name="motor_constant">0.025</param> <param name="motor_constant">0.025</param>
...@@ -190,8 +240,6 @@ ...@@ -190,8 +240,6 @@
<param name="safety_damping">0.5</param> <param name="safety_damping">0.5</param>
<param name="motor_reversed_polarity">${false}</param> <param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">0.432</param> <param name="position_offset">0.432</param>
<param name="kp">4.</param>
<param name="kd">0.04</param>
</joint> </joint>
<sensor name="IMU"> <sensor name="IMU">
<state_interface name="gyroscope"/> <state_interface name="gyroscope"/>
......
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