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restore moteus configs
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@alisonryckman
alisonryckman committed Jul 11, 2024
1 parent 1f5c46c commit f4f44e8
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Showing 6 changed files with 44 additions and 26 deletions.
2 changes: 1 addition & 1 deletion config/moteus/back_left.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,7 @@ motor_position.sources.2.compensation_table.31 0.000000
motor_position.commutation_source 0
motor_position.output.source 0
motor_position.output.offset 0.000000
motor_position.output.sign 1
motor_position.output.sign -1
motor_position.output.reference_source -1
motor_position.rotor_to_output_ratio 0.066667
motor.poles 28
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60 changes: 40 additions & 20 deletions config/moteus/joint_c.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ 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
Expand Down Expand Up @@ -102,24 +103,35 @@ 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_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.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_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_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.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_table.18 0.000000
motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.20 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_table.21 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.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_table.25 0.000000
motor_position.sources.0.compensation_table.26 0.000000
motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.28 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_table.29 0.000000
motor_position.sources.0.compensation_table.30 0.000000
motor_position.sources.0.compensation_table.31 0.000000
Expand All @@ -136,13 +148,15 @@ 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_tabmotor_position.sources.1.compensation_table.4 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_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_tabmotor_position.sources.1.compensation_table.11 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_table.12 0.000000
motor_position.sources.1.compensation_table.13 0.000000
motor_position.sources.1.compensation_table.14 0.000000
Expand All @@ -152,7 +166,8 @@ 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_tabmotor_position.sources.1.compensation_table.22 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_table.23 0.000000
motor_position.sources.1.compensation_table.24 0.000000
motor_position.sources.1.compensation_table.25 0.000000
Expand Down Expand Up @@ -185,15 +200,17 @@ 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_tabmotor_position.sources.2.compensation_table.14 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_table.15 0.000000
motor_position.sources.2.compensation_table.16 0.000000
motor_position.sources.2.compensation_table.17 0.000000
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_tabmotor_position.sources.2.compensation_table.23 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_table.24 0.000000
motor_position.sources.2.compensation_table.25 0.000000
motor_position.sources.2.compensation_table.26 0.000000
Expand All @@ -205,12 +222,13 @@ 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 0.165744
motor.v_per_hz 0.194689
motor.resistance_ohm 0.162850
motor.v_per_hz 0.000505
motor.offset.0 0.000000
motor.offset.1 0.000000
motor.offset.2 0.000000
Expand Down Expand Up @@ -1303,6 +1321,7 @@ 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
Expand Down Expand Up @@ -1335,14 +1354,15 @@ 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 0.060796
servo.pid_dq.ki 104.140076
servo.pid_dq.kp 0.060606
servo.pid_dq.ki 102.321388
servo.pid_position.kp 800.000000
servo.pid_position.ki 0.000000
servo.pid_position.kd 50.000000
Expand All @@ -1358,14 +1378,14 @@ 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
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
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2 changes: 1 addition & 1 deletion launch/jetson_autonomy.launch
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Expand Up @@ -18,7 +18,7 @@
<node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
output="screen">
<param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
<param name="port" value="8082"/>
<param name="port" value="8083"/>
</node>

<!-- Zed mini -->
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2 changes: 1 addition & 1 deletion launch/jetson_erd.launch
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Expand Up @@ -5,7 +5,7 @@
<node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
output="screen">
<param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
<param name="port" value="8082"/>
<param name="port" value="8083"/>
</node>


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2 changes: 1 addition & 1 deletion launch/jetson_es.launch
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Expand Up @@ -5,7 +5,7 @@
<node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
output="screen">
<param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
<param name="port" value="8082"/>
<param name="port" value="8083"/>
</node>

<include file="$(find mrover)/launch/zed.launch">
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2 changes: 0 additions & 2 deletions src/perception/object_detector/pch.hpp
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Expand Up @@ -49,5 +49,3 @@

#include "point.hpp"
#include <learning.hpp>

#include <bitset>

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