robot_settingsjaxon_red.diff

diff --git a/VSProjects/TransHost/TransHost/robot_settingsjaxon_red.fs b/VSProjects/TransHost/TransHost/robot_settingsjaxon_red.fs
index a271e38..10c1cf8 100755
--- a/VSProjects/TransHost/TransHost/robot_settingsjaxon_red.fs
+++ b/VSProjects/TransHost/TransHost/robot_settingsjaxon_red.fs
@@ -36,13 +36,17 @@ let waist_default_motor_param =
   let dgain48 = -10*16
   (default_maxcurrent,default_motortemplimit,pgain48,dgain48)
 
-let leg_default_motor_param =
-  let default_maxcurrent = 50us // 50 * 1.38105 = 69.1 [A]
+let leg_default_motor_param_with_maxcurrent maxcurrent =
   let default_motortemplimit = 150us
   // let default_motortemplimit = 200us // unlimited
   let pgain48 = 3*16
   let dgain48 = -10*16
-  (default_maxcurrent,default_motortemplimit,pgain48,dgain48)
+  (maxcurrent,default_motortemplimit,pgain48,dgain48)
+
+let leg_default_maxcurrent = 50us // 50 * 1.38105 = 69.1 [A]
+let leg_default_motor_param =
+  leg_default_motor_param_with_maxcurrent(leg_default_maxcurrent)
+
 
 // confs
 let armconf st_adr motor_settings =
@@ -95,12 +99,24 @@ let legconf st_adr motor_settings =
     das
     |> List.zip motor_settings
     |> List.mapi (fun i (motor_setting,da) ->
+        let ratcheting_current = 
+          [44.7;
+           63.5;
+           101.6;
+           101.6;
+           101.6;
+           101.6;
+           37.2;
+           44.4] // [A]
+          |> List.map (fun x -> uint16(floor (x / 1.38105)))
+        let ratcheting_current_i = ratcheting_current.Item i
+        let leg_default_motor_param_with_ratcheting_current = leg_default_motor_param_with_maxcurrent(ratcheting_current_i)
         let (rc,wc,rch,wch) =
-            motor_driver_conf_common leg_default_motor_param da motor_setting
-        if motor_setting = 0 then
-            (rc,wc,rch,wch)
-        else
-      (rc,wc,rch,wch) )
+            if ratcheting_current_i < leg_default_maxcurrent then
+              motor_driver_conf_common leg_default_motor_param_with_ratcheting_current da motor_setting
+            else
+              motor_driver_conf_common leg_default_motor_param da motor_setting
+        (rc,wc,rch,wch))
     |> List.reduce append_conf
     |> append_conf <| power_input_conf st_adr
   let endat_confs =
@@ -259,6 +275,48 @@ let convertRuleVel =
    ]
   |> List.concat