reconfigure joint a and c

umrover · Feb 8, 2025 · fcacec0 · fcacec0
1 parent 5c9b1d2
commit fcacec0
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
@@ -221,7 +221,7 @@ motor_position.sources.2.compensation_table.30 0.000000
 motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
-motor_position.output.offset -0.142578
+motor_position.output.offset 0.349487
 motor_position.output.sign 1
 motor_position.output.reference_source 1
 motor_position.rotor_to_output_ratio 0.002066
@@ -1363,9 +1363,9 @@ servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
 servo.pid_dq.kp 0.053427
 servo.pid_dq.ki 102.892982
-servo.pid_position.kp 8000.000000
+servo.pid_position.kp 35000.000000
 servo.pid_position.ki 2000.000000
-servo.pid_position.kd 1500.000000
+servo.pid_position.kd 500.000000
 servo.pid_position.iratelimit -1.000000
 servo.pid_position.ilimit 130.000000
 servo.pid_position.max_desired_rate 0.000000
@@ -1394,6 +1394,6 @@ servo.timing_fault 0
 servo.emit_debug 0
 servopos.position_min nan
 servopos.position_max nan
-id.id 49
+id.id 50
 can.prefix 0
 
diff --git a/esw/arm_hw_bridge.cpp b/esw/arm_hw_bridge.cpp
@@ -40,7 +40,7 @@ namespace mrover {
             .minVelocity = MetersPerSecond{-0.05},
             .maxVelocity = MetersPerSecond{0.05},
             .minPosition = Meters{0.0},
-            .maxPosition = Meters{0.4},
+            .maxPosition = Meters{0.35}, // limit switch to limit switch is roughly 13.25in. joint a roller is roughly 4.5in
             .maxTorque = 20.0,
 
             .limitSwitch0Present = true,