From 13ad47d0242573e0212c328d38538d17e7e0fb2b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 29 May 2011 09:38:26 +0200 Subject: digital/asserv: callibrate asserv parameters --- digital/asserv/tools/asserv/init.py | 4 ++-- digital/io-hub/src/robospierre/bot.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index db33364d..5bbffe7d 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -35,8 +35,8 @@ target_marcel = dict ( w = 0x09, ) target_robospierre = dict ( - scale = 0.031748977927129413, f = 0x1370, - c = float (0x01000000) / (1 << 24), + scale = 0.0317975134344, f = 0x134e, + c = float (0xffa897) / (1 << 24), tkp = 1, tkd = 16, ta = 0.75, tsm = 0x60, tss = 0x10, tbe = 256, tbs = 0x08, tbc = 40, diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h index bd7cc181..890780b3 100644 --- a/digital/io-hub/src/robospierre/bot.h +++ b/digital/io-hub/src/robospierre/bot.h @@ -31,7 +31,7 @@ #ifdef HOST # define BOT_SCALE 0.0395840674352314 #else -# define BOT_SCALE 0.0415178942124 +# define BOT_SCALE 0.0317975134344 #endif /** Distance from the robot axis to the front. */ -- cgit v1.2.3