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Wrist MK2 - Change order of roll and pitch joints according to specification, and change calibration values #366

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merged 2 commits into from
Jun 23, 2022
Merged

Wrist MK2 - Change order of roll and pitch joints according to specification, and change calibration values #366

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ff14768
test calibration and joints order
mfussi66 Jun 15, 2022
bc2edda
restore original homing velocity
mfussi66 Jun 23, 2022
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3 changes: 1 addition & 2 deletions experimentalSetups/wristmk2_handmk3_ems_amcbldc/calibrators/wrist-calib.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,7 @@
<group name="CALIBRATION">
<param name="calibrationType"> 12 12 12 </param>


<param name="calibration1"> 6172 18789 11688 </param>
<param name="calibration1"> 6865 29533 30289 </param>
<param name="calibration2"> 0 0 0 </param>
<param name="calibration3"> 0 0 0 </param>
<param name="calibration4"> 0 0 0 </param>
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2 changes: 1 addition & 1 deletion experimentalSetups/wristmk2_handmk3_ems_amcbldc/hardware/mechanicals/wrist-eb2-j0_2-mec.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<param name="MotioncontrolVersion"> 6 </param>
<param name="Joints"> 3 </param>
<param name="AxisMap"> 0 1 2 </param>
<param name="AxisName"> "wrist_yaw" "wrist_pitch" "wrist_roll" </param>
<param name="AxisName"> "wrist_yaw" "wrist_roll" "wrist_pitch" </param>
<param name="AxisType"> "revolute" "revolute" "revolute" </param>
<param name="Encoder"> 182.044 182.044 182.044 </param>
<param name="fullscalePWM"> 32000 32000 32000 </param>
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