From 8d625a7761959fc53b6e8d99c8c30c8456211555 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Sun, 14 Apr 2013 20:24:32 +0200 Subject: digital/asserv/tools/asserv: add apbirthday asserv parameters --- digital/asserv/tools/asserv/init.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) (limited to 'digital/asserv/tools/asserv/init.py') diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 495ebd82..7efe277c 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -80,9 +80,24 @@ target_guybrush = dict ( r_reverse = True, angle_limit = 0x1000, ) +target_apbirthday = dict ( + aux_nb = 0, + scale = 0.0317975134344, footing = 0x134e, + encoder_right_correction = 1, + t_kp = 1, t_kd = 16, + t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10, + t_bd_error_limit = 256, t_bd_speed_limit = 0x08, t_bd_counter_limit = 40, + a_kp = 2, a_kd = 16, + a_acc = 0.5, a_speed_max = 0x60, a_speed_slow = 0x10, + a_bd_error_limit = 128, a_bd_speed_limit = 0x08, a_bd_counter_limit = 40, + e_sat = 0x3ff, d_sat = 0x1ff, + l_reverse = True, + angle_limit = 0x1000, + ) target = { 'giboulee': target_marcel, 'marcel': target_marcel, 'robospierre': target_robospierre, 'guybrush': target_guybrush, + 'apbirthday':target_apbirthday } -- cgit v1.2.3