hardware-interface/march_hardware/config/right_hip_fe.json at 42299a0904766f9d2f30a719c487063df8c43f5d · project-march/hardware-interface · GitHub

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[
    {
        "name":"axis0.motor.config.current_lim",
        "type":"float",
        "value":30.0
    },
    {
        "name":"axis0.encoder.config.cpr",
        "type":"int32",
        "value":4096
    },
    {
        "name":"axis0.encoder.config.use_index",
        "type":"bool",
        "value":1
    },
    {
        "name":"config.brake_resistance",
        "type":"float",
        "value":0.0
    },
    {
        "name":"axis0.motor.config.pole_pairs",
        "type":"int32",
        "value":21
    },
    {
        "name":"axis0.motor.config.calibration_current",
        "type":"float",
        "value":10.0
    },
    {
        "name":"axis0.controller.config.vel_limit",
        "type":"float",
        "value":200000.0
    },
    {
        "name":"axis0.motor.config.current_control_bandwidth",
        "type":"float",
        "value":100.0
    },

    {
        "name":"axis0.motor.config.motor_type",
        "type":"uint8",
        "value":0
    },
    {
        "name":"axis0.controller.config.vel_gain",
        "type":"float",
        "value":0.01
    },
    {
        "name":"axis0.controller.config.vel_integrator_gain",
        "type":"float",
        "value":0.05
    },
    {
        "name":"axis0.controller.config.control_mode",
        "type":"uint8",
        "value":1
    },
    {
        "name":"axis0.sensorless_estimator.config.pm_flux_linkage",
        "type":"float",
        "value":0.001944723
    },
    {
        "name":"axis0.config.watchdog_timeout",
        "type":"float",
        "value":0
    },
]