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| ==Config files==
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| The PID configuration files can be found in /iCub/app/iCubLisboa01/conf
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| In the vizzy.ini file it is possible to check which ini files with the configuration of the PIDs are being used.
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| ==Current PID configuration==
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| The PID configuration still needs to be finished and reviewed. The current values of the configuration have been found through trial and error method.
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| * The current configuration of the left arm elbow joint
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| Pid1 950 0 2 9000 9000 13 0 //Left Elbow Flection
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| The 950 value indicates the P value. This value was defined having into account the stiffness of the motor and how close it could reach the desired angle.
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| The 0 value indicates the D value. This value was left as 0 because adding it made little diference in the final result.
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| The 2 value indicates the I value. This value was chosen so that the arm would reach an angle close to the desired one and avoiding that it would oscillate too much.
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| For the remaning joints the controller works reasonably, but the values are not set accordingly to each motor.
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| ==Notes (03/Feb/2012)==
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| Both wrist flection PIDs are not well defined.
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| The forearm pronation and writst flection values are untested.
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