left_leg-calib.xml

<?xml version='1.0' encoding='UTF-8'?>
<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_leg-calibrator" type="parametricCalibratorEth">
  <xi:include href="../general.xml"/>

  <group name="GENERAL">
    <param name="joints">  6  </param> <!-- the number of joints of the robot part -->
    <param name="deviceName"> Left_Leg_Calibrator </param>
  </group>
  
  <group name="HOME">
    <param name="positionHome">                       0.00           5.00       0.00        -5.00        0.00      0.00        </param>
    <param name="velocityHome">                       10.00          10.00      10.00        10.00       10.00     10.00       </param>
  </group>



   <group name="CALIBRATION">
    <param name="calibrationType">                    10             10           10            10         10      10       </param>
    <param name="calibration1">                      -4500           4500        -2500         -4000       2500   -2000     </param>
    <param name="calibration2">                       0.0            0.0          0             0          0       0        </param> 
    <param name="calibration3">                       0.0            0.0          0             0          0       0        </param> 
    <param name="calibration4">                       0.0            0.0          0             0          0       0        </param>
    <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
   <param name="calibrationZero">                    93.0          119.90       80.761         5.817    -47.060  25.823   </param>
    <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
    
    <param name="startupPosition">                    90              20          0            -70         0       0        </param>
    <param name="startupVelocity">                    10.0            10.0        10.0          10         10      10       </param>
    <param name="startupMaxPwm">                      12000           8000        3000          8000       4000    3000     </param>
    <param name="startupPosThreshold">                2               2           2             2          2       2        </param>
  </group>

  <param name="CALIB_ORDER"> (2) (4) (5) (3) (0) (1) </param>

  <action phase="startup" level="10" type="calibrate">
    <param name="target">left_leg-mc_remapper</param>
  </action>

  <action phase="interrupt1" level="1" type="park">
    <param name="target">left_leg-mc_remapper</param>
  </action>

  <action phase="interrupt3" level="1" type="abort"/>

</device>