From 958799eb719bc3c5d2e330b0cb1be2925a2548f8 Mon Sep 17 00:00:00 2001
From: Ben Starmer-Smith <ben@shadowrobot.com>
Date: Thu, 27 Jul 2023 13:48:33 +0000
Subject: [PATCH] Updating calibration of 2330

---
 .../2330/calibrations/calibration.yaml        | 24 +++++++++++--------
 1 file changed, 14 insertions(+), 10 deletions(-)

diff --git a/sr_hand_config/2330/calibrations/calibration.yaml b/sr_hand_config/2330/calibrations/calibration.yaml
index d657bf82..22d39db0 100644
--- a/sr_hand_config/2330/calibrations/calibration.yaml
+++ b/sr_hand_config/2330/calibrations/calibration.yaml
@@ -1,4 +1,4 @@
-# Copyright 2022 Shadow Robot Company Ltd.
+# Copyright 2023 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -12,27 +12,31 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
+# This file contains an alternate approach to pedal connection, that falls victim to Ubuntu suspending USB devices.
+# Try as I might, I couldn't make Ubuntu leave it alone, so switched to the input events approach seen in
+# sr_triple_pedal.py. I'll leave this here in case it might be useful later.
+
 sr_calibrations: [
 ["FFJ1", [[3021.0, 0.0], [2277.0, 22.5], [1497.0, 45.0], [741.0, 67.5], [296.0, 90.0]]], 
 ["FFJ2", [[3113.0, 0.0], [2858.0, 22.5], [2477.0, 45.0], [2078.0, 67.5], [1619.0, 90.0]]], 
 ["FFJ3", [[2707.0, 0.0], [2377.0, 22.5], [1945.0, 45.0], [1511.0, 67.5], [1064.0, 90.0]]], 
-["FFJ4", [[2450.0, -20.0], [2086.0, -10.0], [1720.0, 0.0], [1369.0, 10.0], [1065.0, 20.0]]], 
-["MFJ1", [[3093.0, 0.0], [2452.0, 22.5], [1744.0, 45.0], [1094.0, 67.5], [577.0, 90.0]]], 
-["MFJ2", [[2966.0, 0.0], [2592.0, 22.5], [2169.0, 45.0], [1811.0, 67.5], [1435.0, 90.0]]], 
-["MFJ3", [[2442.98, 0.0], [2066.09, 22.5], [1596.83, 45.0], [1146.14, 67.5], [864.98, 90.0]]], 
+["FFJ4", [[2450.0, -20.0], [2086.0, -10.0], [1669.57, 0.0], [1369.0, 10.0], [1065.0, 20.0]]], 
+["MFJ1", [[3122.17, 0.0], [2452.0, 22.5], [1744.0, 45.0], [1094.0, 67.5], [577.0, 90.0]]], 
+["MFJ2", [[2972.02, 0.0], [2592.0, 22.5], [2169.0, 45.0], [1811.0, 67.5], [1435.0, 90.0]]], 
+["MFJ3", [[2442.0, 0.0], [2066.0, 22.5], [1596.0, 45.0], [1146.0, 67.5], [864.0, 90.0]]], 
 ["MFJ4", [[2689.0, -20.0], [2336.0, -10.0], [1991.0, 0.0], [1650.0, 10.0], [1311.0, 20.0]]], 
-["RFJ1", [[3384.0, 0.0], [2756.0, 22.5], [1985.0, 45.0], [1202.0, 67.5], [600.0, 90.0]]], 
-["RFJ2", [[2946.0, 0.0], [2697.0, 22.5], [2287.0, 45.0], [2012.0, 67.5], [1567.0, 90.0]]], 
+["RFJ1", [[3372.96, 0.0], [2756.0, 22.5], [1985.0, 45.0], [1202.0, 67.5], [600.0, 90.0]]], 
+["RFJ2", [[2957.91, 0.0], [2697.0, 22.5], [2287.0, 45.0], [2012.0, 67.5], [1567.0, 90.0]]], 
 ["RFJ3", [[2540.0, 0.0], [2106.0, 22.5], [1688.0, 45.0], [1254.0, 67.5], [906.0, 90.0]]], 
 ["RFJ4", [[1028.0, -20.0], [1331.0, -10.0], [1653.0, 0.0], [1968.0, 10.0], [2265.0, 20.0]]], 
 ["LFJ1", [[2843.0, 0.0], [2180.0, 22.5], [1487.0, 45.0], [835.0, 67.5], [365.0, 90.0]]], 
 ["LFJ2", [[3003.0, 0.0], [2693.0, 22.5], [2258.0, 45.0], [1871.0, 67.5], [1461.0, 90.0]]], 
 ["LFJ3", [[2612.0, 0.0], [2229.0, 22.5], [1721.0, 45.0], [1259.0, 67.5], [861.0, 90.0]]], 
 ["LFJ4", [[1367.0, -20.0], [1691.0, -10.0], [2030.0, 0.0], [2372.0, 10.0], [2620.0, 20.0]]], 
-["LFJ5", [[521.0, 0.0], [1520.0, 22.5], [2088.0, 45.0], [2618.0, 67.5]]], 
+["LFJ5", [[352.0, 0.0], [1407.0, 22.5], [2079.0, 45.0], [2580.0, 67.5]]], 
 ["THJ3", [[2574.0, -12.0], [1887.0, 0.0], [1243.0, 12.0]]], 
 ["THJ4", [[1476.0, 0.0], [1752.0, 22.5], [2072.0, 45.0], [2331.0, 67.5]]], 
-["THJ5", [[1116.0, -60.0], [1214.0, -45.0], [1394.0, -30.0], [1491.0, -15.0], [1549.0, 0.0], [1746.0, 15.0], [2013.0, 30.0], [2309.0, 45.0], [2623.0, 60.0]]], 
+["THJ5", [[536.0, -60.0], [751.0, -45.0], [1026.0, -30.0], [1315.0, -15.0], [1591.0, 0.0], [2042.0, 15.0], [2469.0, 30.0], [2744.0, 45.0], [3020.0, 60.0]]], 
 ["WRJ1", [[2562.0, -45.0], [2366.0, -22.5], [2154.0, 0.0], [1938.0, 15.0], [1769.0, 30.0]]], 
 ["WRJ2", [[2790.0, -30.0], [1098.0, 0.0], [559.0, 10.0]]], 
 ]
@@ -63,4 +67,4 @@ sr_calibrations_coupled: [
                     [[1055.0, 1966.0], 90.0, 0.0], 
                     [[1047.0, 1816.0], 90.0, -20.0], 
                     [[1041.0, 1681.0], 90.0, -40.0]]]
-]
+]
\ No newline at end of file