From eae163966957cb4ef7b864fd8469775040996781 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 17 May 2009 21:05:19 +0200 Subject: * digital/asserv: - reversed aux1. - limit aux0 to 6v. - lowered aux0 speed. --- digital/asserv/src/asserv/counter_ext.avr.c | 2 +- digital/asserv/src/asserv/main.c | 2 +- digital/asserv/src/asserv/pwm.h | 2 +- digital/asserv/tools/asserv/init.py | 6 +++--- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/digital/asserv/src/asserv/counter_ext.avr.c b/digital/asserv/src/asserv/counter_ext.avr.c index 43bf91fc..61ee6911 100644 --- a/digital/asserv/src/asserv/counter_ext.avr.c +++ b/digital/asserv/src/asserv/counter_ext.avr.c @@ -53,7 +53,7 @@ /** Define to 1 to reverse the first auxiliary counter. */ #define COUNTER_AUX0_REVERSE 1 /** Define to 1 to reverse the second auxiliary counter. */ -#define COUNTER_AUX1_REVERSE 1 +#define COUNTER_AUX1_REVERSE 0 /** Define to 1 to use the AVR External Memory system, or 0 to use hand made * signals. */ diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c index f0b7e5b3..b34ed364 100644 --- a/digital/asserv/src/asserv/main.c +++ b/digital/asserv/src/asserv/main.c @@ -661,7 +661,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) break; case c ('w', 2): /* Set PWM direction. - * - b: bits: 000[aux1][aux0][right][left]. */ + * - b: bits: 0000[aux1][aux0][right][left]. */ pwm_set_reverse (args[1]); break; case c ('E', 2): diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h index 4e3f9134..a94c4ff4 100644 --- a/digital/asserv/src/asserv/pwm.h +++ b/digital/asserv/src/asserv/pwm.h @@ -58,7 +58,7 @@ extern uint8_t pwm_reverse; #define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x #define PWM_MAX_FOR_pwm_left PWM_MAX #define PWM_MAX_FOR_pwm_right PWM_MAX -#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 2) +#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 4) #define PWM_MAX_FOR_pwm_aux1 (PWM_MAX / 2) /** Define minimum PWM value for each output, if the value is less than the diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 136810f4..537e591b 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -6,7 +6,7 @@ host = dict ( akp = 2, akd = 16, aa = 0.5, asm = 0x60, ass = 0x20, a0kp = 4, - a0a = 0.5, a0sm = 0x18, a0ss = 0x08, + a0a = 0.5, a0sm = 0x0c, a0ss = 0x05, a1kp = 2, a1a = 16, a1sm = 0x46, a1ss = 0x10, E = 0x3ff, D = 0x1ff, @@ -19,9 +19,9 @@ target = dict ( akp = 2, akd = 16, aa = 0.5, asm = 0x60, ass = 0x20, a0kp = 4, - a0a = 0.5, a0sm = 0x18, a0ss = 0x08, + a0a = 0.5, a0sm = 0x0c, a0ss = 0x05, a1kp = 2, a1a = 16, a1sm = 0x46, a1ss = 0x10, E = 0x3ff, D = 0x1ff, - w = 0x40, + w = 0x08, ) -- cgit v1.2.3