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iorodeo committed 2eca756 Draft

Added force filter cutoff frequency.

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Files changed (2)

inertial_params.xml

 <launch>
 
     <!-- Bounds Checker parameters -->
-    <param name="dist_lower_bound" type="double" value="0.8" />
-    <param name="dist_upper_bound" type="double" value="20.00"/>
+    <param name="dist_lower_bound" type="double" value="0.5" />
+    <param name="dist_upper_bound" type="double" value="31.50"/>
 
     <!-- Controller params -->
     <param name="controller_pgain" type="double" value="6000.0"/>
     <!-- Actuator pwm parameters -->
     <param name="actuator_max_value" type="double" value="2000"/>
     <param name="actuator_min_value" type="double" value="1000"/>
-    <param name="actuator_default_value" type="double" value="1500"/>
+    <param name="actuator_default_value" type="double" value="1000"/>
 
 </launch> 
 
 <launch>
 
     <!-- Bounds Checker parameters -->
-    <param name="dist_lower_bound" type="double" value="0.8" />
-    <param name="dist_upper_bound" type="double" value="20.00"/>
+    <param name="dist_lower_bound" type="double" value="0.5" />
+    <param name="dist_upper_bound" type="double" value="31.50"/>
 
     <!-- Controller params -->
     <param name="controller_pgain" type="double" value="6000.0"/>
     <param name="controller_ffcoeff" type="double" value="5600"/>
 
     <!-- Force Sensor parameters  (N/DAC integer) -->
-    <param name="force_calibration" type="double" value="0.001"/>
-    <param name="force_zeroing_num" type="int" value="50"/>
+    <!-- Force calibration is the coeff. multiplied by the analog signal to get Newtons.. note: system calibrated by Will with calibration at 0.001; NOTE: Last calibrated for Transducer Techniques LSP-10 #257396 and got -0.0316397611994 on Dec 7, 2012. NOTE: If the direction of the force is wrong, just add/remove negative sign. -->
+    <param name="force_calibration" type="double" value="0.0316397611994"/>
+    <!-- 'force_zeroing_num' is number of samples to use in finding the zero. Done at system startup -->
+    <param name="force_zeroing_num" type="int" value="750"/>
+    <!-- 'force_filt_cutoff' sets the cutoff frequency for the force transducer's low-pass filter. 25Hz default -->
+    <param name="force_filt_cutoff" type="double" value="0.5"/>
 
     <!-- Actuator pwm parameters -->
     <param name="actuator_max_value" type="double" value="2000"/>