[ergoCubSN000] Torso: changing of current limits and more (#483)

Co-authored-by: Ugo Pattacini <[email protected]>

Author: AntonioConsilvio

ergoCubSN000/calibrators/head-calib.xml

@@ -19,16 +19,16 @@
         <!-- joint logical number               0           1           2           3         -->
         <!-- joint name                         neck-pitch  neck-roll   neck-yaw    eyes-tilt -->
         <group name="CALIBRATION">
-            <param name="calibrationType">      12          12          12           12         </param>
-            <param name="calibration1">   	27519	    -17823      61615	    52575      </param>
-            <param name="calibration2">         0           0           0	    0          </param>
+            <param name="calibrationType">      12          12          12          12         </param>
+            <param name="calibration1">   	    27519	    -17823      61615	    52575      </param>
+            <param name="calibration2">         0           0           0	        0          </param>
             <param name="calibration3">         0           0           0           0          </param>
 
             <param name="calibration4">         0           0           0           0    </param>
             <param name="calibration5">         0           0           0           0    </param>
 
-            <param name="calibrationZero">      0.0         0.0        0.0         0.0   </param>
-            <param name="calibrationDelta">     0.0         0.0        0.0         0.0   </param>
+            <param name="calibrationZero">      0.0         0.0         0.0         0.0   </param>
+            <param name="calibrationDelta">     0.0         0.0         0.0         0.0   </param>
 
             <param name="startupPosition">      0.0         0.0         0.0         0.0  </param>
             <param name="startupVelocity">      10          10          20.0        20.0 </param>

ergoCubSN000/calibrators/torso-calib.xml

@@ -37,8 +37,8 @@
 <param name="startupPosThreshold">                  2                       2                      2                       </param>
 </group>
 
- <!-- check old calibrator for the correct sequence, then ask to Randazz -->
-		<param name="CALIB_ORDER">(0) (1) (2) </param>
+ <!-- Joint 1 has been removed from the calibration order for motor safety -->
+		<param name="CALIB_ORDER">(0) (2) </param>
 
 		<action phase="startup" level="10" type="calibrate">
 		    <param name="target">torso-mc_remapper</param>

ergoCubSN000/hardware/mechanicals/torso-eb5-j0_2-mec.xml

@@ -11,7 +11,7 @@
         <param name="Encoder">              182.044             182.044          182.044             </param>
         <param name="fullscalePWM">         32000               32000            32000               </param>
         <param name="ampsToSensor">         1000.0              1000.0           1000.0              </param>
-        <param name="Gearbox_M2J">          100.0              100.0            -100.0              </param>
+        <param name="Gearbox_M2J">          100.0               160.0            -100.0              </param>
         <param name="Gearbox_E2J">          1                   1                1                   </param>
         <param name="useMotorSpeedFbk">     1                   1                1                   </param> 
         <param name="MotorType">            "MOOG_C2900576"     "MOOG_C2900576"   "MOOG_C2900576"     </param>
@@ -27,13 +27,13 @@
 
     <group name="2FOC">                                             
 		<param name="Verbose">              0                   0                0                  </param>
-        <param name="AutoCalibration">      0                   0               0                  </param>
+        <param name="AutoCalibration">      0                   0                0                  </param>
         <param name="HasHallSensor">        0                   0                0                  </param>
         <param name="HasTempSensor">        0                   0                0                  </param>
         <param name="HasRotorEncoder">      1                   1                1                  </param>
         <param name="HasRotorEncoderIndex"> 1                   1                1                  </param>
         <param name="HasSpeedEncoder">      0                   0                0                  </param>
-        <param name="RotorIndexOffset">     66                  131               228                </param>
+        <param name="RotorIndexOffset">     66                  85               228                </param>
         <param name="MotorPoles">           8                   8                8                  </param>
    </group>
 

ergoCubSN000/hardware/motorControl/torso-eb5-j0_2-mc.xml

@@ -16,10 +16,10 @@
         <param name="jntPosMax">                23                  45                  43                  </param>
         <param name="jntPosMin">                -23                 -18                 -43                 </param>
         <param name="jntVelMax">                120                 120                 120                 </param>
-        <param name="motorNominalCurrents">     5000                15000               5000                </param>
-        <param name="motorPeakCurrents">        10000               20000               10000                </param>
-        <param name="motorOverloadCurrents">    15000               30000               15000               </param>
-        <param name="motorPwmLimit">            10000               16000               10000               </param>
+        <param name="motorNominalCurrents">     3770                3770                5000                </param>
+        <param name="motorPeakCurrents">        14000               14000               10000                </param>
+        <param name="motorOverloadCurrents">    18000               18000               15000               </param>
+        <param name="motorPwmLimit">            16000               16000               16000               </param>
     </group>
 
     <group name="TIMEOUTS">