From 9db8edadcb71c67526fb34cd5c11a174608e875b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Apr 2008 15:31:37 +0200 Subject: * digital/asserv/tools: - tuned arm PID. --- digital/asserv/tools/init.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/asserv/tools/init.py') diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py index 05aa8e6b..9a2c1b6c 100644 --- a/digital/asserv/tools/init.py +++ b/digital/asserv/tools/init.py @@ -5,14 +5,14 @@ host = dict ( 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, + a0a = 0.5, a0sm = 0x10, a0ss = 0x05, ) 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, + a0p = 0.8, a0i = 0.05, a0d = 0.05, + E = 0x3ff, D = 0x1ff, I = 0x1fff, ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x40, asm = 0x60, ass = 0x40, - a0a = 0.5, a0sm = 0x10, a0ss = 0x10, + a0a = 0.5, a0sm = 0x10, a0ss = 0x05, ) -- cgit v1.2.3