From 71f328494408081dbe1d68ab9f408309bc9d6be1 Mon Sep 17 00:00:00 2001
From: Owen Park <owenmmp@gmail.com>
Date: Tue, 19 Nov 2024 18:29:25 -0500
Subject: [PATCH] repid tune joint c

---
 config/moteus/joint_c.cfg | 47 ++++++++++++++++++++-------------------
 1 file changed, 24 insertions(+), 23 deletions(-)

diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
index 761535fc1..641229e14 100644
--- a/config/moteus/joint_c.cfg
+++ b/config/moteus/joint_c.cfg
@@ -1,19 +1,19 @@
-uuid.uuid.0 23
-uuid.uuid.1 245
-uuid.uuid.2 107
-uuid.uuid.3 1
-uuid.uuid.4 115
-uuid.uuid.5 71
-uuid.uuid.6 69
-uuid.uuid.7 218
-uuid.uuid.8 176
-uuid.uuid.9 234
-uuid.uuid.10 13
-uuid.uuid.11 64
-uuid.uuid.12 20
-uuid.uuid.13 175
-uuid.uuid.14 129
-uuid.uuid.15 210
+uuid.uuid.0 170
+uuid.uuid.1 194
+uuid.uuid.2 103
+uuid.uuid.3 72
+uuid.uuid.4 100
+uuid.uuid.5 247
+uuid.uuid.6 68
+uuid.uuid.7 154
+uuid.uuid.8 187
+uuid.uuid.9 11
+uuid.uuid.10 4
+uuid.uuid.11 12
+uuid.uuid.12 76
+uuid.uuid.13 17
+uuid.uuid.14 40
+uuid.uuid.15 186
 clock.hsitrim 64
 aux1.i2c.i2c_hz 100000
 aux1.i2c.i2c_mode 1
@@ -221,8 +221,8 @@ motor_position.sources.2.compensation_table.30 0.000000
 motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
-motor_position.output.offset 0.297363
-motor_position.output.sign 1
+motor_position.output.offset -0.142578
+motor_position.output.sign -1
 motor_position.output.reference_source 1
 motor_position.rotor_to_output_ratio 0.002066
 motor.poles 14
@@ -1361,11 +1361,11 @@ servo.velocity_threshold 0.000000
 servo.position_derate 0.020000
 servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
-servo.pid_dq.kp 0.060606
-servo.pid_dq.ki 102.321388
-servo.pid_position.kp 800.000000
+servo.pid_dq.kp 0.060796
+servo.pid_dq.ki 104.140076
+servo.pid_position.kp 255750.000000
 servo.pid_position.ki 0.000000
-servo.pid_position.kd 50.000000
+servo.pid_position.kd 5150.000000
 servo.pid_position.iratelimit -1.000000
 servo.pid_position.ilimit 0.000000
 servo.pid_position.max_desired_rate 0.000000
@@ -1378,7 +1378,8 @@ servo.voltage_mode_control 0
 servo.fixed_voltage_mode 0
 servo.fixed_voltage_control_V 0.000000
 servo.max_position_slip 0.100000
-servo.default_timeout_s 0.100000
+servo.max_velocity_slip nan
+servo.default_timeout_s 0.200000
 servo.timeout_max_torque_Nm 5.000000
 servo.timeout_mode 12
 servo.flux_brake_min_voltage 53.000000