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authorFlorent Duchon2013-04-14 20:24:32 +0200
committerFlorent Duchon2013-04-14 20:24:32 +0200
commit8d625a7761959fc53b6e8d99c8c30c8456211555 (patch)
tree6c9b25779763d6c50e9833ed48d58e6be19e5a7a /digital/asserv/tools/asserv
parent77e351206544a6f82c7e7171ffacac2900a23f22 (diff)
digital/asserv/tools/asserv: add apbirthday asserv parameters
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/init.py15
1 files changed, 15 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 495ebd82..7efe277c 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -80,9 +80,24 @@ target_guybrush = dict (
r_reverse = True,
angle_limit = 0x1000,
)
+target_apbirthday = dict (
+ aux_nb = 0,
+ scale = 0.0317975134344, footing = 0x134e,
+ encoder_right_correction = 1,
+ 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,
+ a_kp = 2, a_kd = 16,
+ 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,
+ l_reverse = True,
+ angle_limit = 0x1000,
+ )
target = {
'giboulee': target_marcel,
'marcel': target_marcel,
'robospierre': target_robospierre,
'guybrush': target_guybrush,
+ 'apbirthday':target_apbirthday
}