From f4f44e8187a2f4ecfe60f3119371d712ed2e05f6 Mon Sep 17 00:00:00 2001 From: Alison Ryckman Date: Wed, 10 Jul 2024 21:52:55 -0400 Subject: [PATCH] restore moteus configs --- config/moteus/back_left.cfg | 2 +- config/moteus/joint_c.cfg | 60 +++++++++++++++++--------- launch/jetson_autonomy.launch | 2 +- launch/jetson_erd.launch | 2 +- launch/jetson_es.launch | 2 +- src/perception/object_detector/pch.hpp | 2 - 6 files changed, 44 insertions(+), 26 deletions(-) diff --git a/config/moteus/back_left.cfg b/config/moteus/back_left.cfg index a8998ee34..ef09e6973 100644 --- a/config/moteus/back_left.cfg +++ b/config/moteus/back_left.cfg @@ -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 diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg index 057229a0e..761535fc1 100644 --- a/config/moteus/joint_c.cfg +++ b/config/moteus/joint_c.cfg @@ -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 @@ -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 @@ -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 @@ -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 @@ -185,7 +200,8 @@ 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 @@ -193,7 +209,8 @@ 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 @@ -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 @@ -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 @@ -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 @@ -1358,7 +1378,6 @@ 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 @@ -1366,6 +1385,7 @@ 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 diff --git a/launch/jetson_autonomy.launch b/launch/jetson_autonomy.launch index 4e0e1cbb6..17bff49f3 100644 --- a/launch/jetson_autonomy.launch +++ b/launch/jetson_autonomy.launch @@ -18,7 +18,7 @@ - + diff --git a/launch/jetson_erd.launch b/launch/jetson_erd.launch index 072b8219c..086fb79be 100644 --- a/launch/jetson_erd.launch +++ b/launch/jetson_erd.launch @@ -5,7 +5,7 @@ - + diff --git a/launch/jetson_es.launch b/launch/jetson_es.launch index 558a8b352..c54314eaf 100644 --- a/launch/jetson_es.launch +++ b/launch/jetson_es.launch @@ -5,7 +5,7 @@ - + diff --git a/src/perception/object_detector/pch.hpp b/src/perception/object_detector/pch.hpp index d8504e984..d9b99790b 100644 --- a/src/perception/object_detector/pch.hpp +++ b/src/perception/object_detector/pch.hpp @@ -49,5 +49,3 @@ #include "point.hpp" #include - -#include \ No newline at end of file