updated calibration values

config/urdf/hexapod_robot_ros2_control.xacro

@@ -42,29 +42,29 @@
         <hardware>
             <plugin>hexapod_robot/HexapodRobotHardwareInterface</plugin>
             <param name="i2c_device">/dev/i2c-1</param>
-            <xacro:map_joint_name_to_hardware name="c1" i2c_address="0x40" channel="13" counts_intersect="386" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f1" i2c_address="0x40" channel="14" counts_intersect="307" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.4"/>
-            <xacro:map_joint_name_to_hardware name="t1" i2c_address="0x40" channel="15" counts_intersect="189" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="c1" i2c_address="0x40" channel="13" counts_intersect="389" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f1" i2c_address="0x40" channel="14" counts_intersect="329" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.2"/>
+            <xacro:map_joint_name_to_hardware name="t1" i2c_address="0x40" channel="15" counts_intersect="202" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
 
-            <xacro:map_joint_name_to_hardware name="c2" i2c_address="0x40" channel="9"  counts_intersect="327" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f2" i2c_address="0x40" channel="10" counts_intersect="317" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.4"/>
-            <xacro:map_joint_name_to_hardware name="t2" i2c_address="0x40" channel="11" counts_intersect="227" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>        
+            <xacro:map_joint_name_to_hardware name="c2" i2c_address="0x40" channel="9"  counts_intersect="329" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f2" i2c_address="0x40" channel="10" counts_intersect="334" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.2"/>
+            <xacro:map_joint_name_to_hardware name="t2" i2c_address="0x40" channel="11" counts_intersect="232" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>        
             
-            <xacro:map_joint_name_to_hardware name="c3" i2c_address="0x40" channel="2"  counts_intersect="237" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f3" i2c_address="0x40" channel="1"  counts_intersect="307" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.4"/>
-            <xacro:map_joint_name_to_hardware name="t3" i2c_address="0x40" channel="0"  counts_intersect="267" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
+            <xacro:map_joint_name_to_hardware name="c3" i2c_address="0x40" channel="2"  counts_intersect="238" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f3" i2c_address="0x40" channel="1"  counts_intersect="320" counts_slope="129" counts_min="125" counts_max="550" startup_value="-1.2"/>
+            <xacro:map_joint_name_to_hardware name="t3" i2c_address="0x40" channel="0"  counts_intersect="279" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
             
-            <xacro:map_joint_name_to_hardware name="c4" i2c_address="0x41" channel="13" counts_intersect="451" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f4" i2c_address="0x41" channel="14" counts_intersect="367" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.4"/>
-            <xacro:map_joint_name_to_hardware name="t4" i2c_address="0x41" channel="15" counts_intersect="487" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
+            <xacro:map_joint_name_to_hardware name="c4" i2c_address="0x41" channel="13" counts_intersect="448" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f4" i2c_address="0x41" channel="14" counts_intersect="371" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.2"/>
+            <xacro:map_joint_name_to_hardware name="t4" i2c_address="0x41" channel="15" counts_intersect="479" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
             
-            <xacro:map_joint_name_to_hardware name="c5" i2c_address="0x41" channel="6"  counts_intersect="357" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f5" i2c_address="0x41" channel="5"  counts_intersect="367" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.4"/>
-            <xacro:map_joint_name_to_hardware name="t5" i2c_address="0x41" channel="4"  counts_intersect="437" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
+            <xacro:map_joint_name_to_hardware name="c5" i2c_address="0x41" channel="6"  counts_intersect="355" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f5" i2c_address="0x41" channel="5"  counts_intersect="363" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.2"/>
+            <xacro:map_joint_name_to_hardware name="t5" i2c_address="0x41" channel="4"  counts_intersect="424" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>            
             
-            <xacro:map_joint_name_to_hardware name="c6" i2c_address="0x41" channel="2"  counts_intersect="255" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
-            <xacro:map_joint_name_to_hardware name="f6" i2c_address="0x41" channel="1"  counts_intersect="335" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.4"/>
-            <xacro:map_joint_name_to_hardware name="t6" i2c_address="0x41" channel="0"  counts_intersect="444" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="c6" i2c_address="0x41" channel="2"  counts_intersect="252" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
+            <xacro:map_joint_name_to_hardware name="f6" i2c_address="0x41" channel="1"  counts_intersect="335" counts_slope="129" counts_min="125" counts_max="550" startup_value="1.2"/>
+            <xacro:map_joint_name_to_hardware name="t6" i2c_address="0x41" channel="0"  counts_intersect="447" counts_slope="129" counts_min="125" counts_max="550" startup_value="0"/>
         </hardware>
 
         <xacro:create_leg_joints number="1"/>