nums to fix it

kscalelabs · Dec 4, 2024 · 91fb992 · 91fb992
1 parent 7171807
commit 91fb992
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/platforms/kbot/src/actuator.rs b/platforms/kbot/src/actuator.rs
@@ -123,7 +123,7 @@ impl Actuator for KBotActuator {
         let control_config = ControlConfig {
             kp: config.kp.unwrap_or(0.0) as f32,
             kd: config.kd.unwrap_or(0.0) as f32,
-            max_torque: Some(2.0),
+            max_torque: Some(4.0),
             max_velocity: Some(5.0),
             max_current: Some(10.0),
         };

diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
@@ -80,22 +80,22 @@ impl Platform for KbotPlatform {
                     ],
                     Duration::from_secs(1),
                     // Duration::from_nanos(3_333_333),
-                    Duration::from_millis(5),
+                    Duration::from_millis(7),
                     &[
                         // Left Arm
                         (1, ActuatorType::RobStride03),
                         (2, ActuatorType::RobStride03),
                         (3, ActuatorType::RobStride02),
                         (4, ActuatorType::RobStride02),
                         (5, ActuatorType::RobStride02),
-                        (6, ActuatorType::RobStride00),
+                        // (6, ActuatorType::RobStride00),
                         // Right Arm
                         (11, ActuatorType::RobStride03),
                         (12, ActuatorType::RobStride03),
                         (13, ActuatorType::RobStride02),
                         (14, ActuatorType::RobStride02),
                         (15, ActuatorType::RobStride02),
-                        (16, ActuatorType::RobStride00),
+                        // (16, ActuatorType::RobStride00),
                         // Left Leg
                         (21, ActuatorType::RobStride04),
                         (22, ActuatorType::RobStride03),