Add max torque to drive

umrover · Apr 19, 2024 · 45dd19f · 45dd19f
1 parent 54e0b98
commit 45dd19f
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/config/esw.yaml b/config/esw.yaml
@@ -95,24 +95,32 @@ can:
 
 brushless_motors:
   controllers:
+    # TODO(quintin): These units are in terms of the rotor revolutions, not the output shaft.
+    #                At some point we should modify the moteus firmware to set the rotor to output ratio.
     front_left:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     front_right:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     middle_left:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     middle_right:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     back_left:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     back_right:
       min_velocity: -20.0
       max_velocity: 20.0
+      max_torque: 5.0
     joint_a:
       # 1236.8475 rad/meter, or 196.850393476 rev/meter, and we want a max vel of 40 meter/s. 
       # gear ratio is currently at 0.005080 revolutions = 1 meter