From 1e81250b589f3ee7b4f1f7f9d4abc4c1c3009a11 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 20 May 2009 18:46:17 +0200 Subject: * digital/asserv/src/asserv: - better arm zero position. --- digital/asserv/src/asserv/simu.host.c | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c index a4b34138..8802257d 100644 --- a/digital/asserv/src/asserv/simu.host.c +++ b/digital/asserv/src/asserv/simu.host.c @@ -215,8 +215,13 @@ simu_sensor_update_aquajim (void) } /** Top zero sensors. */ double aa = simu_aux_model[0].th / simu_aux_model[0].m.i_G - - M_PI / 6 - 2 * M_PI / 3 - + 2 * M_PI * 0x43e / simu_robot->aux_encoder_steps[0]; + /* Almost open. */ + + 2 * M_PI / 6 / 10 + /* Turn at the next hole. */ + - 2 * M_PI / 3 + /* Mechanical offset. */ + + 2 * M_PI * 0x43e / simu_robot->aux_encoder_steps[0] / + simu_aux_model[0].m.i_G; double apos = aa / (2 * M_PI / 3); if (apos - floor (apos) > 0.5) PINC |= IO_BV (CONTACT_AUX0_ZERO_IO); -- cgit v1.2.3