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authorNicolas Schodet2012-04-06 23:44:03 +0200
committerNicolas Schodet2012-04-06 23:55:26 +0200
commitda90cd4112335e5ce5e21e3e077336d5aeb745e0 (patch)
treed81e25270d280f821fb789816277b39d492695cf /digital/asserv/tools/asserv
parent872dfd49752b0fe5b7d4e8588c0abaac3829b7dc (diff)
digital/io-hub/src/guybrush: use mimot for guybrush asserv
Diffstat (limited to 'digital/asserv/tools/asserv')
-rw-r--r--digital/asserv/tools/asserv/init.py25
1 files changed, 25 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 5b852d71..6aa54faa 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -21,10 +21,21 @@ host_robospierre = dict (
e_sat = 0x3ff, d_sat = 0x1ff,
angle_limit = 0x1000,
)
+host_guybrush = dict (
+ aux_nb = 0,
+ scale = 0.0395840674352314, footing = 0xdd1,
+ t_kp = 1, t_kd = 16,
+ t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10,
+ a_kp = 2, a_kd = 16,
+ a_acc = 0.25, a_speed_max = 0x60, a_speed_slow = 0x10,
+ e_sat = 0x3ff, d_sat = 0x1ff,
+ angle_limit = 0x1000,
+ )
host = {
'giboulee': host_marcel,
'marcel': host_marcel,
'robospierre': host_robospierre,
+ 'guybrush': host_guybrush,
}
target_marcel = dict (
scale = 0.0415178942124, footing = 0xcef,
@@ -54,8 +65,22 @@ target_robospierre = dict (
e_sat = 0x3ff, d_sat = 0x1ff,
angle_limit = 0x1000,
)
+target_guybrush = dict (
+ aux_nb = 0,
+ scale = 0.0317975134344, footing = 0x134e,
+ encoder_right_correction = float (0xffa897) / (1 << 24),
+ 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,
+ angle_limit = 0x1000,
+ )
target = {
'giboulee': target_marcel,
'marcel': target_marcel,
'robospierre': target_robospierre,
+ 'guybrush': target_guybrush,
}