From b34a8b41d45f8c1fe1a399cbbcbd98b2e7f53977 Mon Sep 17 00:00:00 2001
From: Yohei Kakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 12 Sep 2018 00:05:43 +0900
Subject: [PATCH 1/2] [RobotHardware/robot.cpp] remove dummy read from gain
 file

---
 rtc/RobotHardware/robot.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/rtc/RobotHardware/robot.cpp b/rtc/RobotHardware/robot.cpp
index 3e72c13c5d2..2027dd405db 100644
--- a/rtc/RobotHardware/robot.cpp
+++ b/rtc/RobotHardware/robot.cpp
@@ -135,21 +135,18 @@ bool robot::loadGain()
             default_pgain[i] = tmp;
             if(sstrm.eof()) break;
 
-            sstrm >> tmp; // dummy
+            sstrm >> tmp; // I gain
             if(sstrm.eof()) break;
 
             sstrm >> tmp;
             default_dgain[i] = tmp;
             if(sstrm.eof()) break;
 
-            sstrm >> tmp; // dummy
-            if(sstrm.eof()) break;
-
             sstrm >> tmp;
             default_tqpgain[i] = tmp;
             if(sstrm.eof()) break;
 
-            sstrm >> tmp; // dummy
+            sstrm >> tmp; // I gain for torque
             if(sstrm.eof()) break;
 
             sstrm >> tmp;

From 165a7f163b1d17ebd944e83ec0396ec64dc0f756 Mon Sep 17 00:00:00 2001
From: Yohei Kakiuchi <youhei@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 12 Sep 2018 00:06:07 +0900
Subject: [PATCH 2/2] [RobotHardware] update description for a gain file

---
 rtc/RobotHardware/RobotHardware.txt | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/rtc/RobotHardware/RobotHardware.txt b/rtc/RobotHardware/RobotHardware.txt
index 8be5e4e0374..27d84980f63 100644
--- a/rtc/RobotHardware/RobotHardware.txt
+++ b/rtc/RobotHardware/RobotHardware.txt
@@ -73,7 +73,31 @@ N/A
 <tr><td>model</td><td>std::string</td><td></td><td>URL of a VRML model</td></tr>
 <tr><td>sensor_id.right_leg_force_sensor</td><td>unsigned int</td><td></td><td>ID of a force/torque sensor whose Z force is checked to detect emergency</td></tr>
 <tr><td>sensor_id.leg_leg_force_sensor</td><td>unsigned int</td><td></td><td>ID of a force/torque sensor whose Z force is checked to detect emergency</td></tr>
+<tr><td>pdgains.file_name</td><td>string</td><td></td><td>Settings of controller gain for low level hardware. default value: "Pdgains.sav"</td></tr>
 </table>
 
+\subsection gainfile How to write a PDgain file
+
+@par
+A line should have maximum 6 numbers.
+The first is P gain, the second is I gain, the 3rd is D gain,
+the 4th is torque P gain, the 5th is torque I gain, and the 6th is torque D gain.
+@par
+A line which is blank line and starts with '#' is ignored.
+@par
+Example of gain file:
+@code
+# gain settings
+# p_gain i_gain d_gain torque p_gain torque i_gain torque d_gain
+# arm
+100 0 10
+100 0 10
+
+10 0 1
+10 0 1
+
+1000 100 10 2000 200 20
+
+@endcode
 
  */