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authorNicolas Schodet2008-04-28 15:31:37 +0200
committerNicolas Schodet2008-04-28 15:31:37 +0200
commit9db8edadcb71c67526fb34cd5c11a174608e875b (patch)
treec114d7dae0ddf58a98286cffc87151bc6a0aeeab /digital/asserv/tools/init.py
parentd15ad0824f50109713dccb0cf7794c50bbc10434 (diff)
* digital/asserv/tools:
- tuned arm PID.
Diffstat (limited to 'digital/asserv/tools/init.py')
-rw-r--r--digital/asserv/tools/init.py8
1 files changed, 4 insertions, 4 deletions
diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py
index 05aa8e6b..9a2c1b6c 100644
--- a/digital/asserv/tools/init.py
+++ b/digital/asserv/tools/init.py
@@ -5,14 +5,14 @@ host = dict (
a0p = 1, a0d = 16,
E = 0x3ff, D = 0x1ff,
ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x40, asm = 0x60, ass = 0x40,
- a0a = 0.5, a0sm = 0x10, a0ss = 0x10,
+ a0a = 0.5, a0sm = 0x10, a0ss = 0x05,
)
target = dict (
scale = 0.0413359788359788, f = 0xcf9,
c = float (0x100adec) / (1 << 24),
tkp = 1, tkd = 16, akp = 2, akd = 16,
- a0p = 1, a0d = 16,
- E = 0x3ff, D = 0x1ff,
+ a0p = 0.8, a0i = 0.05, a0d = 0.05,
+ E = 0x3ff, D = 0x1ff, I = 0x1fff,
ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x40, asm = 0x60, ass = 0x40,
- a0a = 0.5, a0sm = 0x10, a0ss = 0x10,
+ a0a = 0.5, a0sm = 0x10, a0ss = 0x05,
)