# Config Files
# Joint PID controller YAML file for our 4 stepper motors
joint_control:
# Publish all joint states -----------------------------------
joints_state:
type: joint_state_controller/JointStateController
publish_rate: 10
# Position Controllers ---------------------------------------
left_position_controller:
type: velocity_controllers/JointPositionController
joint: motor_left_shaft
pid: {p: 0.2, i: 0.0, d: 0.0}
right_position_controller:
type: velocity_controllers/JointPositionController
joint: motor_right_shaft
pid: {p: 0.2, i: 0.0, d: 0.0}
shoulder_position_controller:
type: velocity_controllers/JointPositionController
joint: motor_shoulder_shaft
pid: {p: 0.2, i: 0.0, d: 0.0}
elbow_position_controller:
type: velocity_controllers/JointPositionController
joint: motor_elbow_shaft
pid: {p: 0.2, i: 0.0, d: 0.0}
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# Joint limits YAML file for our 4 stepper motors
joint_limits:
motor_left_shaft:
has_position_limits: false
has_velocity_limits: true
max_velocity: 1.57
has_acceleration_limits: true
max_acceleration: 0.5
has_jerk_limits: false
has_effort_limits: false
motor_right_shaft:
has_position_limits: false
has_velocity_limits: true
max_velocity: 1.57
has_acceleration_limits: true
max_acceleration: 0.5
has_jerk_limits: false
has_effort_limits: false
motor_shoulder_shaft:
has_position_limits: false
has_velocity_limits: true
max_velocity: 0.15
has_acceleration_limits: true
max_acceleration: 0.15
has_jerk_limits: false
has_effort_limits: false
motor_elbow_shaft:
has_position_limits: false
has_velocity_limits: true
max_velocity: 0.15
has_acceleration_limits: true
max_acceleration: 0.15
has_jerk_limits: false
has_effort_limits: false
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