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-rw-r--r--digital/mimot/src/dirty/counter_ext.avr.c4
-rw-r--r--digital/mimot/src/dirty/models.host.c2
-rw-r--r--digital/mimot/tools/mimot/init.py8
3 files changed, 7 insertions, 7 deletions
diff --git a/digital/mimot/src/dirty/counter_ext.avr.c b/digital/mimot/src/dirty/counter_ext.avr.c
index 0570ab63..19805d39 100644
--- a/digital/mimot/src/dirty/counter_ext.avr.c
+++ b/digital/mimot/src/dirty/counter_ext.avr.c
@@ -46,9 +46,9 @@
#define COUNTER_AUX1_REVERSE 0
/** First auxiliary counter shift. */
-#define COUNTER_AUX0_SHIFT 0
+#define COUNTER_AUX0_SHIFT 1
/** Second auxiliary counter shift. */
-#define COUNTER_AUX1_SHIFT 0
+#define COUNTER_AUX1_SHIFT 1
/** Define to 1 to use the AVR External Memory system, or 0 to use hand made
* signals. */
diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c
index fe1761c3..efea35bc 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -58,7 +58,7 @@ static const struct robot_t marcel_robot =
/** Auxiliary motors, NULL if not present. */
{ &marcel_clamp_f2342_model, &marcel_clamp_f2342_model },
/** Number of steps for each auxiliary motor encoder. */
- { 512, 512 },
+ { 256, 256 },
/** Sensor update function. */
simu_sensor_update_marcel,
};
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index a956ea94..5b62f913 100644
--- a/digital/mimot/tools/mimot/init.py
+++ b/digital/mimot/tools/mimot/init.py
@@ -1,16 +1,16 @@
"""Default parameters for asserv."""
host = dict (
a0kp = 4,
- a0a = 16, a0sm = 0x60, a0ss = 0x20,
+ a0a = 16, a0sm = 0x60, a0ss = 0x10,
a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x20,
+ a1a = 16, a1sm = 0x60, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
)
target = dict (
a0kp = 4,
- a0a = 16, a0sm = 0x60, a0ss = 0x20,
+ a0a = 16, a0sm = 0x60, a0ss = 0x10,
a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x20,
+ a1a = 16, a1sm = 0x60, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
w = 0x03,
)