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config.txt
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// Copyright: (C) 2010 RobotCub Consortium
// Authors: Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale
// CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
//
// Initialization file for robot head, 8 dof on can bus controller.
//
[GENERAL]
Joints 8
MaxDAC 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0
AxisMap 1 7 0 6 2 3 5 4
Encoder 360.0 360.0 360.0 360.0 360.0 360.0 360.0 360.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Signs 0 0 0 0 0 0 0 0
Stiff 1 1 1 1 1 1 1 1
CurrentLimits 1220.0 1220.0 1220.0 1220.0 10000.0 10000.0 10000.0 10000.0
CanAddresses 14 13 12 11 128 128 128 128 128 128 128 128 128 128 128 128
// limits are: neck pan, neck tilt, eye tilt, version, vergence
[LIMITS]
Max 250000 250000 250000 250000 250000 180000 180000 180000
Min -250000 -250000 -250000 -250000 -250000 -180000 -180000 -180000
[HIGHPID]
Pid0 32 128 2 0 0 1333 0 1333 4 0
Pid1 32 128 2 0 0 1333 0 1333 4 0
Pid2 32 128 2 0 0 1333 0 1333 4 0
Pid3 32 128 2 0 0 1333 0 1333 4 0
Pid4 32 128 4 0 0 1333 0 1333 4 0
Pid5 32 128 1 0 0 1333 0 1333 4 0
Pid6 32 128 1 0 0 1333 0 1333 4 0
Pid7 32 128 1 0 0 1333 0 1333 4 0
[LOWPID]
Pid0 0 0 0 0 0 32767 0 32767 0 0
Pid1 0 0 0 0 0 32767 0 32767 0 0
Pid2 0 0 0 0 0 32767 0 32767 0 0
Pid3 0 0 0 0 0 32767 0 32767 0 0
Pid4 0 0 0 0 0 32767 0 32767 0 0
Pid5 0 0 0 0 0 32767 0 32767 0 0
Pid6 0 0 0 0 0 32767 0 32767 0 0
Pid7 0 0 0 0 0 32767 0 32767 0 0