Pf ui

screen 2 (random)

• az : adjust temperature threshold for Pff temperature rescaling (0 to turn off) (100 to 110 is a good value)
• sx : adjust temperature threshold to turn off robot (set 10 higher than above)

• DCdc : adjust the k3_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees)
• FVfv : adjust the k2_bias by 100 / 10 mdeg (eg 0.1, 0.01 degrees)

• GBgb : relaxed exit hardstop torque for exit to state 5 (by +-10 / 1)

• hn : relaxed exit maximum series torque allowed for pitch velocity exit condition

• jm : adjust pitch velocity threshold (200 is for HH, 300 is a good value)

• IKik : addjust Pff gain by +-5 / +- 1
• O  : (the letter) zero the k2 and k3 bias values
• R : toggle relaxed mode enable

• < > : for experiment - (dis/en)able LS imped commands (to be removed)

screen 9 (weight)

• q set weight to 100 lbs
• w set weight to 150 lbs
• e set weight to 200 lbs
• r set weight to 250 lbs

• AZ/ az : adjust weight by +-10 lbs / 1 lb
• +- : adjust weight by 0.1 lbs
• S E T to set the PCI, and other torque threshold parameters based on PCI