HeeroYui-deprecated/nao_dcm
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Even more stable PID values. Credits to M. Arguedas

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-08-19 00:09:37 +03:00
parent 807cb7be49
commit eeab4cb777
1 changed files with 10 additions and 10 deletions
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nao_dcm_apps/nao_dcm_gazebo/config/gazebo_ros_control_params.yaml
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@ -3,27 +3,27 @@ nao_dcm/gazebo_ros_control/pid_gains:
HeadPitch: {p: 1000.0, i: 100.0, d: 1.0} HeadPitch: {p: 1000.0, i: 100.0, d: 1.0}
LShoulderPitch: {p: 100.0, i: 10.0, d: 2.0} LShoulderPitch: {p: 80.0, i: 4.0, d: 2.0}
LElbowYaw: {p: 1000.0, i: 100.0, d: 1.0} LElbowYaw: {p: 110.0, i: 0.0, d: 0.0}
LElbowRoll: {p: 1000.0, i: 100.0, d: 1.0} LElbowRoll: {p: 30.0, i: 0.7, d: 0.3}
LShoulderRoll: {p: 100.0, i: 10.0, d: 1.0} LShoulderRoll: {p: 50.0, i: 5.0, d: 0.7}
LWristYaw: {p: 100.0, i: 100.0, d: 1.0} LWristYaw: {p: 1.0, i: 0.13, d: 0.01}
LHand: {p: 100.0, i: 100.0, d: 3.0} LHand: {p: 100.0, i: 100.0, d: 3.0}
RShoulderPitch: {p: 100.0, i: 10.0, d: 2.0} RShoulderPitch: {p: 80.0, i: 4.0, d: 2.0}
RElbowYaw: {p: 500.0, i: 100.0, d: 1.0} RElbowYaw: {p: 110.0, i: 0.0, d: 0.0}
RElbowRoll: {p: 500.0, i: 100.0, d: 1.0} RElbowRoll: {p: 30.0, i: 0.7, d: 0.3}
RShoulderRoll: {p: 100.0, i: 10.0, d: 1.0} RShoulderRoll: {p: 50.0, i: 5.0, d: 0.7}
RWristYaw: {p: 100.0, i: 0.0, d: 1.0} RWristYaw: {p: 1.0, i: 0.13, d: 0.01}
RHand: {p: 100.0, i: 100.0, d: 3.0} RHand: {p: 100.0, i: 100.0, d: 3.0}