Pf ui
From DIDEAS Wiki
screen 0 (standard)
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 4 (sensors)
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