From b0bc7f1c6f6b28f422d6ff5f470befa843a72eca Mon Sep 17 00:00:00 2001
From: lfreixas <lfreixas@iri.upc.edu>
Date: Tue, 14 Jun 2016 12:30:15 +0200
Subject: [PATCH] modified dexter.yaml

---
 bioloid_control/config/dexter.yaml | 203 +++++++++++------------------
 1 file changed, 76 insertions(+), 127 deletions(-)

diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml
index 65dca31..d008e03 100644
--- a/bioloid_control/config/dexter.yaml
+++ b/bioloid_control/config/dexter.yaml
@@ -6,9 +6,12 @@ bioloid:
 
   bioloid_cm510_cont:
     type: effort_controllers/BioloidControllerCM510
-    adc1_frame: IR1_link
+    exp_adc8_frame: IR1_link
+    exp_adc7_frame: IRL1_link
     adc3_frame: gyro_x
     adc4_frame: gyro_y
+    exp_adc1_frame: IR2_link
+    exp_adc8_frame: IR3_link
     exp_board_id: 192
     exp_gpio0_frame: left_front_fwd_ir_link
     exp_gpio1_frame: left_front_dwn_ir_link
@@ -37,146 +40,92 @@ bioloid:
       - j_ankle_roll_l
     gains:
       j_shoulder_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_high_arm_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_low_arm_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_shoulder_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_high_arm_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_low_arm_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_yaw_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_roll_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_pitch_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_knee_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_pitch_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_roll_l:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_yaw_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_roll_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_pelvis_pitch_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_knee_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_pitch_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
       j_ankle_roll_r:
-        p: 8.0
-        d: 0.0
-        i: 0.0
-        proxy:
-          lambda: 3.0
-          vel_limit: 6.0
-          effort_limit: 1.5
+        punch: 32
+        margin: 1
+        slope: 32
+        max_torque: 1.5
-- 
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