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temp branch with changes for hand C hybrid controller #192

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merged 1 commit into from
Apr 19, 2021
Merged

temp branch with changes for hand C hybrid controller #192

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204 changes: 204 additions & 0 deletions sr_ethercat_hand_config/controls/host/lh/sr_edc_hybrid_controller_PWM.yaml
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Original file line number Diff line number Diff line change
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sh_lh_hybrid_controller:
gains:
lh_FFJ0:
d: 150.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 9500.0
position_deadband: 0.002
lh_FFJ3:
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -5700.0
position_deadband: 0.002
lh_FFJ4:
d: 310.0
deadband: 0.02
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: 7500.0
position_deadband: 0.003
lh_LFJ0:
d: -150.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -8000.0
position_deadband: 0.002
lh_LFJ3:
d: 270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 5700.0
position_deadband: 0.002
lh_LFJ4:
d: -310.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: -7100.0
position_deadband: 0.003
lh_LFJ5:
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: -7300.0
position_deadband: 0.003
lh_MFJ0:
d: 150.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 9500.0
position_deadband: 0.002
lh_MFJ3:
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -5900.0
position_deadband: 0.002
lh_MFJ4:
d: 310.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: 7100.0
position_deadband: 0.003
lh_RFJ0:
d: 190.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 7500.0
position_deadband: 0.002
lh_RFJ3:
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -5900.0
position_deadband: 0.002
lh_RFJ4:
d: 310.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: 7300.0
position_deadband: 0.003
lh_THJ1:
d: 270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 5900.0
position_deadband: 0.002
lh_THJ2:
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: -6500.0
position_deadband: 0.002
lh_THJ3:
d: 390.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: 7700.0
position_deadband: 0.003
lh_THJ4:
d: -310.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: -5900.0
position_deadband: 0.003
lh_THJ5:
d: 330.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 6100.0
position_deadband: 0.003
lh_WRJ1:
d: 270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 7500.0
position_deadband: 0.003
lh_WRJ2:
d: 110.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 9100.0
position_deadband: 0.003
joints:
- lh_RFJ4
- lh_LFJ4
- lh_RFJ3
- lh_FFJ4
- lh_LFJ0
- lh_MFJ3
- lh_LFJ5
- lh_THJ1
- lh_MFJ4
- lh_THJ5
- lh_WRJ1
- lh_THJ2
- lh_FFJ0
- lh_MFJ0
- lh_WRJ2
- lh_LFJ3
- lh_THJ4
- lh_THJ3
- lh_RFJ0
- lh_FFJ3
type: sr_hybrid_controllers/SrHybridController
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