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authorNicolas Schodet2010-05-04 02:25:11 +0200
committerNicolas Schodet2010-05-04 02:25:11 +0200
commitfd9ce0cc3d9b24ec7661876d2a72c37a808b9eab (patch)
treed6145290a4022fee5575ab03bb83a2d8573bfd1f /digital/asserv
parent8bb3210e139183c36984427926bbf0061dc5e6dd (diff)
digital, host/simu: update hardware values
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/models.host.c4
-rw-r--r--digital/asserv/tools/asserv/init.py6
2 files changed, 5 insertions, 5 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index cba0d458..9c16539a 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -283,7 +283,7 @@ static const struct motor_def_t marcel_elevator_model =
9.7, /* Gearbox ratio. */
0.80, /* Gearbox efficiency. */
/* Load characteristics. */
- 1.0 * 0.01 * 0.01, /* Load (kg.m^2). */
+ 1.0 * 0.01115 * 0.01115,/* Load (kg.m^2). */
/* This is a pifometric estimation. */
/* Hardware limits. */
0.0, +INFINITY,
@@ -313,7 +313,7 @@ static const struct robot_t marcel_robot =
/** Auxiliary motors, NULL if not present. */
{ &marcel_elevator_model, NULL },
/** Number of steps for each auxiliary motor encoder. */
- { 512, 0 },
+ { 256, 0 },
/** Sensor update function. */
simu_sensor_update_marcel,
};
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 4a702606..4657315a 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -6,7 +6,7 @@ host = dict (
akp = 2, akd = 16,
aa = 0.25, asm = 0x20, ass = 0x10,
a0kp = 4,
- a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
+ a0a = 4, a0sm = 0x60, a0ss = 0x10,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
@@ -20,12 +20,12 @@ target = dict (
akp = 2, akd = 16,
aa = 0.25, asm = 0x20, ass = 0x10,
a0kp = 4,
- a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
+ a0a = 4, a0sm = 0x60, a0ss = 0x10,
a0be = 256, a0bs = 0x04, a0bc = 10,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
a1be = 256, a1bs = 0x0c, a1bc = 10,
E = 0x3ff, D = 0x1ff,
l = 0x1000,
- w = 0x08,
+ w = 0x00,
)