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authorNicolas Schodet2012-05-13 12:46:10 +0200
committerNicolas Schodet2012-05-13 14:26:39 +0200
commit5ee74a45a0721c5cb6094f13dbaa1d021293591e (patch)
treec08077d67b10c3ea7361d88728a5ce42a9f09169 /digital/asserv/tools/asserv
parented5039a883c47551071c9f9eded7af6d16935c6b (diff)
digital/asserv, digital/mimot: set asserv parameters
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/init.py3
1 files changed, 2 insertions, 1 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 6aa54faa..d28c1b32 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -68,7 +68,7 @@ target_robospierre = dict (
target_guybrush = dict (
aux_nb = 0,
scale = 0.0317975134344, footing = 0x134e,
- encoder_right_correction = float (0xffa897) / (1 << 24),
+ encoder_right_correction = 0.99861627695742,
t_kp = 1, t_kd = 16,
t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10,
t_bd_error_limit = 256, t_bd_speed_limit = 0x08, t_bd_counter_limit = 40,
@@ -76,6 +76,7 @@ target_guybrush = dict (
a_acc = 0.5, a_speed_max = 0x60, a_speed_slow = 0x10,
a_bd_error_limit = 128, a_bd_speed_limit = 0x08, a_bd_counter_limit = 40,
e_sat = 0x3ff, d_sat = 0x1ff,
+ r_reverse = True,
angle_limit = 0x1000,
)
target = {