From 91fb9923f7606f1f4ad6b31c7ee5f0378c1aff48 Mon Sep 17 00:00:00 2001 From: WT-MM Date: Wed, 4 Dec 2024 16:46:55 +0000 Subject: [PATCH] nums to fix it --- platforms/kbot/src/actuator.rs | 2 +- platforms/kbot/src/lib.rs | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/platforms/kbot/src/actuator.rs b/platforms/kbot/src/actuator.rs index 4d3df88..686149d 100644 --- 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 index a7811a5..2c9dd32 100644 --- a/platforms/kbot/src/lib.rs +++ b/platforms/kbot/src/lib.rs @@ -80,7 +80,7 @@ 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), @@ -88,14 +88,14 @@ impl Platform for KbotPlatform { (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),