#
# JLS file for an immaginary SCARA robot.
#
#	This was constructed so that we could ``run'' the scara
#	robot using the simulator. 
#
#	The specification for the ``wrist'' was taken directly from that
#	for the PUMA 560, couplings and all. Except I made the range
#	for joint 4 greater :-).
#
# 	NJ denotes the number of joints
# 	NFC denotes the number of forward couplings
# 	NIC denotes the number of inverse couplings
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
	6
# (NJ characters)  jtype	      joint type ('R' or 'P')
	R R P R R R
# (1 int)	   numFC	      number of forward couplings
	3
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings
	5 4
	6 4
	6 5
# (1 int)     	   numIC	      number of inverse couplings
	3
# (NIC * 2 ints)   invCouplings       indicies of inverse couplings
	5 4
	6 4
	6 5
# (NJ+NFC floats)  forGearRatios      forward gear ratios and couplings
	50.0
	50.0
	 0.1
	 76.03636364
	 71.92307692
	 76.68639053
# Gear couplings
# The relationship between these off-diagonal couplings G(i,j) and the 
# Unimation coupling constansts C(i,j) is 
# 	G(i,j) = G(i,i) * C(i,j)
#
# The corresponding Unimation Couplings are:
# R54   .013903743493951788
# R64   .013040123547346537
# R65   .18055507633101519
	 1.0
	 1.0
	13.846117
# (NJ dec float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
	32768	  0.0
	32768	  0.0
	32768  -250.0
	32768	  0.0
	32768     0.0
	32768	  0.0
# (NJ dec)	   encWheelSize       encoder counts/motor shaft rev
	1000
	1000
	1000
	 500
	1000
	 500
# (NJ floats)	   mtorqueToCurrent   motor tor. to output DAC ratio
	-1344.0
	-1343.0
	-1384.5
	-3787.6
	-4060.2
	-4150.5
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
	-9.920625e-04
	-9.927890e-04
	-9.630274e-04
	-3.520234e-04
	-3.283945e-04
	-3.212461e-04
# (NJ ints) 	   currentBias	      zero-torque current values, if current
#				      outputs are biased
	0
	0
	0
	0
	0
	0
# (NJ dec)         encCalvec	      encoder calibration vector
#				      (measured by primecal)
	32768
	32768
	32768
	32768
	32768
	32768
# (NJ dec)         encHome            encoder counts at home or nest position
#				      (not used on PUMA 560)
	0
	0
	0
	0
	0
	0
# (NJ float)  	   potSlope           slope for pot enc estimate
#				      (measured by potcal)
#
	100.0
	100.0
	100.0
	 50.0
	100.0
	 50.0
# (NJ float) 	   potIntercept       intercept for pot enc estimate
#				      (measured by potcal)
	-24992
	-12770.5
	-25712.2
	  4070.30
	-23776.5
	  3871.62
# (NJ float)       jmin		      minimum joint angle (deg.)
	-160.0
	-160.0
	-450.0
	-220.0
	-100.0
	-220.0
# (NJ float)        jmax	      maximum joint angle (deg.)
	 160.0
	 160.0
	 -50.0
	 220.0
	 100.0
	 220.0
# (NJ float)       maxVel	      maximum velocity (deg./sec.)
	180.0
	180.0
	400.0
	360.0
	360.0
	360.0
# (NJ float)       maxAcc	      maximum acceleration (deg./sec.^2)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxJerk	      maximum jerk (deg./sec.^3)
#				      (not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ float)       maxMtorque	      maximum motor torque or force
#				      (Newton-meters of Newtons)
	1.2
	1.2
	1.2
	0.3
	0.3
	0.3
# (NJ float)       maxJtorque	      maximum joint torque
#	   			      (Not presently used)
	0.0
	0.0
	0.0
	0.0
	0.0
	0.0
# (NJ floats)	   parkAngles	      the park angles for the robot
#				      (corresponds to the "rcclpark" position)
	 -90.0
	  90.0
           0.0
           0.0
         -45.0
          90.0
# (NJ floats)	   bestAngles	      a set of well conditioned angles
#				      Usually the parkAngles work well here
	 -90.0
	  90.0
           0.0
           0.0
         -45.0
          90.0
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
	15.0
	15.0
       100.0
	30.0
	30.0
	30.0
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
	150.0
	150.0
       1000.0
	300.0
	300.0
	300.0
# (NJ floats)	   nominalJerk	      nominal jerk (deg/sec^3)
#				      (not presently used)
	1500.0
	1500.0
       10000.0
	3000.0
	3000.0
	3000.0
# (1 hex int)	   flags	      robot specific flags.
	00
