diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg index 761535fc1..057229a0e 100644 --- a/config/moteus/joint_c.cfg +++ b/config/moteus/joint_c.cfg @@ -59,7 +59,6 @@ aux2.i2c.i2c_mode 1 aux2.i2c.pullup 0 aux2.i2c.devices.0.type 0 aux2.i2c.devices.0.address 64 -aux2.i2c.devices.0.poll_rate_us 1000 aux2.i2c.devices.1.type 0 aux2.i2c.devices.1.address 64 aux2.i2c.devices.1.poll_rate_us 1000 @@ -103,35 +102,24 @@ motor_position.sources.0.sign -1 motor_position.sources.0.debug_override -1 motor_position.sources.0.reference 0 motor_position.sources.0.pll_filter_hz 100.000000 -motor_position.sources.0.compensation_table.0 0.000000 -motor_position.sources.0.compensation_table.1 0.000000 -motor_position.sources.0.compensation_table.2 0.000000 -motor_position.sources.0.compensation_table.3 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.1 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.3 0.000000 motor_position.sources.0.compensation_table.4 0.000000 motor_position.sources.0.compensation_table.5 0.000000 motor_position.sources.0.compensation_table.6 0.000000 motor_position.sources.0.compensation_table.7 0.000000 -motor_position.sources.0.compensation_table.8 0.000000 -motor_position.sources.0.compensation_table.9 0.000000 -motor_position.sources.0.compensation_table.10 0.000000 -motor_position.sources.0.compensation_table.11 0.000000 -motor_position.sources.0.compensation_table.12 0.000000 -motor_position.sources.0.compensation_table.13 0.000000 -motor_position.sources.0.compensation_table.14 0.000000 -motor_position.sources.0.compensation_table.15 0.000000 -motor_position.sources.0.compensation_table.16 0.000000 -motor_position.sources.0.compensation_table.17 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.9 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.11 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.13 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.15 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.17 0.000000 motor_position.sources.0.compensation_table.18 0.000000 -motor_position.sources.0.compensation_table.19 0.000000 -motor_position.sources.0.compensation_table.20 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.20 0.000000 motor_position.sources.0.compensation_table.21 0.000000 -motor_position.sources.0.compensation_table.22 0.000000 -motor_position.sources.0.compensation_table.23 0.000000 -motor_position.sources.0.compensation_table.24 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.24 0.000000 motor_position.sources.0.compensation_table.25 0.000000 motor_position.sources.0.compensation_table.26 0.000000 -motor_position.sources.0.compensation_table.27 0.000000 -motor_position.sources.0.compensation_table.28 0.000000 +motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.28 0.000000 motor_position.sources.0.compensation_table.29 0.000000 motor_position.sources.0.compensation_table.30 0.000000 motor_position.sources.0.compensation_table.31 0.000000 @@ -148,15 +136,13 @@ motor_position.sources.1.pll_filter_hz 100.000000 motor_position.sources.1.compensation_table.0 0.000000 motor_position.sources.1.compensation_table.1 0.000000 motor_position.sources.1.compensation_table.2 0.000000 -motor_position.sources.1.compensation_table.3 0.000000 -motor_position.sources.1.compensation_table.4 0.000000 +motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.4 0.000000 motor_position.sources.1.compensation_table.5 0.000000 motor_position.sources.1.compensation_table.6 0.000000 motor_position.sources.1.compensation_table.7 0.000000 motor_position.sources.1.compensation_table.8 0.000000 motor_position.sources.1.compensation_table.9 0.000000 -motor_position.sources.1.compensation_table.10 0.000000 -motor_position.sources.1.compensation_table.11 0.000000 +motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.11 0.000000 motor_position.sources.1.compensation_table.12 0.000000 motor_position.sources.1.compensation_table.13 0.000000 motor_position.sources.1.compensation_table.14 0.000000 @@ -166,8 +152,7 @@ motor_position.sources.1.compensation_table.17 0.000000 motor_position.sources.1.compensation_table.18 0.000000 motor_position.sources.1.compensation_table.19 0.000000 motor_position.sources.1.compensation_table.20 0.000000 -motor_position.sources.1.compensation_table.21 0.000000 -motor_position.sources.1.compensation_table.22 0.000000 +motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.22 0.000000 motor_position.sources.1.compensation_table.23 0.000000 motor_position.sources.1.compensation_table.24 0.000000 motor_position.sources.1.compensation_table.25 0.000000 @@ -200,8 +185,7 @@ motor_position.sources.2.compensation_table.9 0.000000 motor_position.sources.2.compensation_table.10 0.000000 motor_position.sources.2.compensation_table.11 0.000000 motor_position.sources.2.compensation_table.12 0.000000 -motor_position.sources.2.compensation_table.13 0.000000 -motor_position.sources.2.compensation_table.14 0.000000 +motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.14 0.000000 motor_position.sources.2.compensation_table.15 0.000000 motor_position.sources.2.compensation_table.16 0.000000 motor_position.sources.2.compensation_table.17 0.000000 @@ -209,8 +193,7 @@ motor_position.sources.2.compensation_table.18 0.000000 motor_position.sources.2.compensation_table.19 0.000000 motor_position.sources.2.compensation_table.20 0.000000 motor_position.sources.2.compensation_table.21 0.000000 -motor_position.sources.2.compensation_table.22 0.000000 -motor_position.sources.2.compensation_table.23 0.000000 +motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.23 0.000000 motor_position.sources.2.compensation_table.24 0.000000 motor_position.sources.2.compensation_table.25 0.000000 motor_position.sources.2.compensation_table.26 0.000000 @@ -222,13 +205,12 @@ motor_position.sources.2.compensation_table.31 0.000000 motor_position.commutation_source 0 motor_position.output.source 0 motor_position.output.offset 0.297363 -motor_position.output.sign 1 motor_position.output.reference_source 1 motor_position.rotor_to_output_ratio 0.002066 motor.poles 14 motor.phase_invert 0 -motor.resistance_ohm 0.162850 -motor.v_per_hz 0.000505 +motor.resistance_ohm 0.165744 +motor.v_per_hz 0.194689 motor.offset.0 0.000000 motor.offset.1 0.000000 motor.offset.2 0.000000 @@ -1321,7 +1303,6 @@ motor.cogging_dq_comp.1020 0 motor.cogging_dq_comp.1021 0 motor.cogging_dq_comp.1022 0 motor.cogging_dq_comp.1023 0 -drv8323_conf.dis_cpuv 0 drv8323_conf.dis_gdf 0 drv8323_conf.otw_rep 0 drv8323_conf.pwm_mode 1 @@ -1354,15 +1335,14 @@ servo.max_voltage 56.000000 servo.max_power_W 450.000000 servo.derate_temperature 50.000000 servo.fault_temperature 75.000000 -servo.enable_motor_temperature 0 servo.motor_derate_temperature 50.000000 servo.motor_fault_temperature nan servo.velocity_threshold 0.000000 servo.position_derate 0.020000 servo.adc_cur_cycles 2 servo.adc_aux_cycles 47 -servo.pid_dq.kp 0.060606 -servo.pid_dq.ki 102.321388 +servo.pid_dq.kp 0.060796 +servo.pid_dq.ki 104.140076 servo.pid_position.kp 800.000000 servo.pid_position.ki 0.000000 servo.pid_position.kd 50.000000 @@ -1378,6 +1358,7 @@ servo.voltage_mode_control 0 servo.fixed_voltage_mode 0 servo.fixed_voltage_control_V 0.000000 servo.max_position_slip 0.100000 +servo.max_velocity_slip nan servo.default_timeout_s 0.100000 servo.timeout_max_torque_Nm 5.000000 servo.timeout_mode 12 @@ -1385,7 +1366,6 @@ servo.flux_brake_min_voltage 53.000000 servo.flux_brake_resistance_ohm 0.025000 servo.max_current_A 100.000000 servo.derate_current_A -20.000000 -servo.max_velocity 0.100000 servo.max_velocity_derate 2.000000 servo.cooldown_cycles 256 servo.velocity_zero_capture_threshold 0.050000