# SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
# SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
# SPDX-License-Identifier: BSD-3-Clause

//
// Initialization file for robot head, 8 dof on can bus controller.
//


[GENERAL]
Joints 8
MaxDAC 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0

AxisMap 1 7 0 6 2 3 5 4
Encoder 360.0 360.0 360.0 360.0 360.0 360.0 360.0 360.0
Zeros 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Signs 0 0 0 0 0 0 0 0
Stiff 1 1 1 1 1 1 1 1
CurrentLimits 1220.0 1220.0 1220.0 1220.0 10000.0 10000.0 10000.0 10000.0

CanAddresses 14 13 12 11 128 128 128 128 128 128 128 128 128 128 128 128


// limits are: neck pan, neck tilt, eye tilt, version, vergence
[LIMITS]
Max 250000 250000 250000 250000 250000 180000 180000 180000
Min -250000 -250000 -250000 -250000 -250000 -180000 -180000 -180000

[HIGHPID]
Pid0 32 128 2 0 0 1333 0 1333 4 0
Pid1 32 128 2 0 0 1333 0 1333 4 0
Pid2 32 128 2 0 0 1333 0 1333 4 0
Pid3 32 128 2 0 0 1333 0 1333 4 0
Pid4 32 128 4 0 0 1333 0 1333 4 0
Pid5 32 128 1 0 0 1333 0 1333 4 0
Pid6 32 128 1 0 0 1333 0 1333 4 0
Pid7 32 128 1 0 0 1333 0 1333 4 0

[LOWPID]
Pid0 0 0 0 0 0 32767 0 32767 0 0
Pid1 0 0 0 0 0 32767 0 32767 0 0
Pid2 0 0 0 0 0 32767 0 32767 0 0
Pid3 0 0 0 0 0 32767 0 32767 0 0
Pid4 0 0 0 0 0 32767 0 32767 0 0
Pid5 0 0 0 0 0 32767 0 32767 0 0
Pid6 0 0 0 0 0 32767 0 32767 0 0
Pid7 0 0 0 0 0 32767 0 32767 0 0