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authorschodet2006-04-14 17:28:23 +0000
committerschodet2006-04-14 17:28:23 +0000
commit5f121df3f678f5961b0959b5cc19fd6ec545bf47 (patch)
tree3a154cae608ba9b01cd850e0c24ca7f128ad3554 /n/asserv/src/asserv/pos.c
parentaa023b1a9f1a84323a81c8674d46a1d5a0d39629 (diff)
Adaptation pour gloubi.
Changement du code eeprom pour faire cohabiter l'ancien et le noouveu programme.
Diffstat (limited to 'n/asserv/src/asserv/pos.c')
-rw-r--r--n/asserv/src/asserv/pos.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/n/asserv/src/asserv/pos.c b/n/asserv/src/asserv/pos.c
index d4204c7..1beffc7 100644
--- a/n/asserv/src/asserv/pos.c
+++ b/n/asserv/src/asserv/pos.c
@@ -41,11 +41,11 @@ int32_t pos_e_sat = 1023;
/** Integral saturation. */
int32_t pos_int_sat = 1023;
/** P coefficients. */
-uint16_t pos_theta_kp = 1200, pos_alpha_kp = 1500;
+uint16_t pos_theta_kp, pos_alpha_kp;
/** I coefficients. */
-uint16_t pos_theta_ki = 120, pos_alpha_ki = 150;
+uint16_t pos_theta_ki, pos_alpha_ki;
/** D coefficients. */
-uint16_t pos_theta_kd = 2000, pos_alpha_kd = 2000;
+uint16_t pos_theta_kd, pos_alpha_kd;
/** Current integral values. */
int32_t pos_theta_int, pos_alpha_int;