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higher limits
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@WT-MM
WT-MM committed Dec 11, 2024
1 parent 7574e88 commit aa99862
Showing 1 changed file with 44 additions and 44 deletions.
88 changes: 44 additions & 44 deletions platforms/kbot/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -86,179 +86,179 @@ impl Platform for KbotPlatform {
11,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32), // Percentage of max
max_velocity: Some(25.0f32),
},
),
(
12,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
13,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
14,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
15,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
16,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride00,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
// Right Arm
(
21,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
22,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
23,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
24,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
25,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
26,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride00,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
// Left Leg
(
31,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
32,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
33,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
34,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
35,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
// Right Leg
(
41,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
42,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
43,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride03,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
44,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride04,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
(
45,
ActuatorConfiguration {
actuator_type: ActuatorType::RobStride02,
max_angle_change: Some(15.0f32),
max_velocity: Some(10.0f32),
max_angle_change: Some(60.0f32),
max_velocity: Some(25.0f32),
},
),
],
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