This PR updates the ergoCubSN001 configuration files as a result of calibration and testing.
Note:
The robot was tested and released without lowerarm.
Incremental calibration of the torso has not yet been set as the robot is currently on the pole and therefore not recommended.
The 2FOC firmware is currently version v3.3.20, and not the experimental V3.6.
Current limits of the shoulder yaw have been slightly because the harmonic drives are still a bit hard, and therefore consume more current than normal.
The roll and pitch AMOs of both shoulders were disabled due to malfunction. The control is with LCORE5 only.
I reversed the pid sign of the pitch torso since the coupling was moving backwards, it is still not clear why it was doing that, but the intention is to figure out the reason to bring the PIDs to the original sign.
What changes:
This PR updates the ergoCubSN001 configuration files as a result of calibration and testing.
Note:
The robot was tested and released without lowerarm.
Incremental calibration of the torso has not yet been set as the robot is currently on the pole and therefore not recommended.
The 2FOC firmware is currently version v3.3.20, and not the experimental V3.6.
Current limits of the shoulder yaw have been slightly because the harmonic drives are still a bit hard, and therefore consume more current than normal.
The roll and pitch AMOs of both shoulders were disabled due to malfunction. The control is with LCORE5 only.
I reversed the pid sign of the pitch torso since the coupling was moving backwards, it is still not clear why it was doing that, but the intention is to figure out the reason to bring the PIDs to the original sign.