From 2533e63fbbfa20f2f9494f1d238a279e6aea2705 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 20 Apr 2008 19:17:35 +0200 Subject: * digital/asserv/tools: - added real robot parameters. --- digital/asserv/tools/init.py | 9 +++++++++ digital/asserv/tools/test_goto.py | 4 +++- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py index 7d0fb79a..05aa8e6b 100644 --- a/digital/asserv/tools/init.py +++ b/digital/asserv/tools/init.py @@ -7,3 +7,12 @@ host = dict ( ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x40, asm = 0x60, ass = 0x40, a0a = 0.5, a0sm = 0x10, a0ss = 0x10, ) +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, + ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x40, asm = 0x60, ass = 0x40, + a0a = 0.5, a0sm = 0x10, a0ss = 0x10, + ) diff --git a/digital/asserv/tools/test_goto.py b/digital/asserv/tools/test_goto.py index 63a8cdf3..c2d27e9e 100644 --- a/digital/asserv/tools/test_goto.py +++ b/digital/asserv/tools/test_goto.py @@ -9,9 +9,11 @@ import random if sys.argv[1] == '!': io = popen_io.PopenIO (sys.argv[2:]) + init = init.host else: io = serial.Serial (sys.argv[1]) -a = Asserv (io, **init.host) + init = init.target +a = Asserv (io, **init) for i in xrange (10): x = random.randrange (2000) y = random.randrange (1100) -- cgit v1.2.3