#
# JLS file for an imaginary ELBOW manipulator 560. This manipulator is
# defined so that elbow manipulators can be run with the RCCL simulator
# program.
#
# Data type	   JLS field name     Description
#
# (1 int)     	   numJ		      number of joints
	6
# (NJ characters)  jtype	      joint type ('R' or 'P')
	R R R R R R
# (1 int)	   numFC	      number of forward couplings
	0
# (NFC * 2 ints)   forCouplings	      indicies of forward couplings

# (1 int)     	   numIC	      number of inverse couplings
	0
# (NIC * 2 ints)   invCouplings       indicies of inverse couplings

# (NJ+NFC floats)  forGearRatios      forward gear ratios and couplings
	40.0
	40.0
	40.0
	40.0
	40.0
	40.0
# 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

# (NJ dec float pairs) encOffset      encoder value followed by its
#				      corresponding joint value
	32768	  0.0
	32768	 90.0
	32768	  0.0
	32768	  0.0
	32768	 90.0
	32768	  0.0
# (NJ dec)	   encWheelSize       encoder counts/motor shaft rev
	1000
	1000
	1000
	1000
	1000
	 500
# (NJ floats)	   mtorqueToCurrent   motor tor. to output DAC ratio
	-1000.0
	-1000.0
	-1000.0
	-4000.0
	-4000.0
	-4000.0
# (NJ floats) 	   currentToMtorque   ADC input to motor tor. ratio
	-0.001
	-0.001
	-0.001
	-0.00025
	-0.00025
	-0.00025
# (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
	100.0
	100.0
	 50.0
# (NJ float) 	   potIntercept       intercept for pot enc estimate
#				      (measured by potcal)
	-18432
	-18432
	-18432
	-18432
	-18432
	  7168
# (NJ float)       jmin		      minimum joint angle (deg.)
	-160.0
	 -60.0
	-150.0
	-150.0
	 -30.0
	-300.0
# (NJ float)        jmax	      maximum joint angle (deg.)
	 160.0
	 240.0
	 150.0
	 150.0
	 210.0
	 300.0
# (NJ float)       maxVel	      maximum velocity (deg./sec.)
	180.0
	180.0
	180.0
	180.0
	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
	 135.0
          90.0
          45.0
          90.0
           0.0
# (NJ floats)	   bestAngles	      a set of well conditioned angles
#				      Usually the parkAngles work well here
	 -90.0
	 135.0
          90.0
          45.0
          90.0
           0.0
# (NJ floats)	   nominalVel	      nominal velocity (deg/sec)
	15.0
	15.0
	15.0
	15.0
	30.0
	30.0
# (NJ floats)	   nominalAcc	      nominal acceleration (deg/sec^2)
	150.0
	150.0
	150.0
	150.0
	300.0
	300.0
# (NJ floats)	   nominalJerk	      nominal jerk (deg/sec^3)
#				      (not presently used)
	1500.0
	1500.0
	1500.0
	1500.0
	3000.0
	3000.0
# (1 hex int)	   flags	      robot specific flags.
#	0x1 says this is a PUMA 260
	00
