setKeepPositionMode.make_ins

w, 55, 0; DIFF_FORCE_SPEED_FACTOR_ANGLE
w, 56, 0; DIFF_FORCE_SPEED_FACTOR_ROT
w, 56, 0;
w, 56, 0;
S, J1_PID_P, 0.1;
S, J2_PID_P, 0.1;
S, J3_PID_P, 0.5;
S, J4_PID_P, 0.05;
S, J5_PID_P, 0.05;
w, 27, 0; SPEED_FACTORA
w, 42, 12960; COMMAND_REG EnableLoop CAL_RUN ResetForce AngleEnable RotEnable
F;