fixed mechanichal values for the lego setup (#700)

robotology · Dec 18, 2024 · c137f1b · c137f1b
1 parent 9a68d25
commit c137f1b
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Showing 3 changed files with 3 additions and 43 deletions.
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml.bak b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml.bak
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044         </param>
         <param name="fullscalePWM">     32000           </param>
         <param name="ampsToSensor">     1000.0          </param>
-        <param name="Gearbox_M2J">     -384.44          </param>
-        <param name="Gearbox_E2J">      1.778           </param>
+        <param name="Gearbox_M2J">     -196          </param>
+        <param name="Gearbox_E2J">      1           </param>
         <param name="useMotorSpeedFbk"> 0               </param>
         <param name="MotorType">        "BLL_MOOG"      </param>
         <param name="Verbose">          0               </param>

diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
@@ -113,7 +113,7 @@
             <group name="JOINTMAPPING">
 
                 <group name="ACTUATOR">
-                    <param name="type">             advfoc     </param>
+                    <param name="type">             advfoc              </param>
                     <param name="onboard">          amc2c               </param>
                     <param name="port">             ICC1:3              </param>
                 </group>