igor2: Update effort limits in gains file to improve rolling balancing

HebiRobotics · Feb 14, 2020 · d69e48f · d69e48f
1 parent 10ac81f
commit d69e48f
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/kits/igor2/resources/igorGains_noCamera.xml b/kits/igor2/resources/igorGains_noCamera.xml
@@ -16,8 +16,8 @@
       <min_target>-inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf -inf</min_target>
       <max_target>inf inf inf inf inf inf inf inf inf inf inf inf inf inf</max_target>
       <target_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1 1</target_lowpass>
-      <min_output>-1 -1 -20 -20 -20 -20 -20 -20 -10 -1 -20 -20 -10 -1</min_output>
-      <max_output>1 1 20 20 20 20 20 20 10 1 20 20 10 1</max_output>
+      <min_output>-1 -1 -20 -60 -20 -60 -20 -20 -10 -1 -20 -20 -10 -1</min_output>
+      <max_output>1 1 20 60 20 60 20 20 10 1 20 20 10 1</max_output>
       <output_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1 1</output_lowpass>
       <d_on_error>1 1 1 1 1 1 1 1 1 1 1 1 1 1</d_on_error>
    </position>
@@ -45,8 +45,8 @@
       <dead_zone>0 0 0 0 0 0 0 0 0 0 0 0 0 0</dead_zone>
       <i_clamp>0 0 0 0 0 0 0 0 0 0 0 0 0 0</i_clamp>
       <punch>0 0 -0 0.01 -0 0.01 -0 -0 -0 -0 -0 -0 -0 -0</punch>
-      <min_target>-10 -10 -20 -20 -20 -20 -20 -20 -10 -10 -20 -20 -10 -10</min_target>
-      <max_target>10 10 20 20 20 20 20 20 10 10 20 20 10 10</max_target>
+      <min_target>-10 -10 -20 -60 -20 -60 -20 -20 -10 -10 -20 -20 -10 -10</min_target>
+      <max_target>10 10 20 60 20 60 20 20 10 10 20 20 10 10</max_target>
       <target_lowpass>1 1 1 1 1 1 1 1 1 1 1 1 1 1</target_lowpass>
       <min_output>-1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1</min_output>
       <max_output>1 1 1 1 1 1 1 1 1 1 1 1 1 1</max_output>