From da90cd4112335e5ce5e21e3e077336d5aeb745e0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 Apr 2012 23:44:03 +0200 Subject: digital/io-hub/src/guybrush: use mimot for guybrush asserv --- digital/asserv/tools/asserv/init.py | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) (limited to 'digital/asserv') diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 5b852d71..6aa54faa 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -21,10 +21,21 @@ host_robospierre = dict ( e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) +host_guybrush = dict ( + aux_nb = 0, + scale = 0.0395840674352314, footing = 0xdd1, + t_kp = 1, t_kd = 16, + t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10, + a_kp = 2, a_kd = 16, + a_acc = 0.25, a_speed_max = 0x60, a_speed_slow = 0x10, + e_sat = 0x3ff, d_sat = 0x1ff, + angle_limit = 0x1000, + ) host = { 'giboulee': host_marcel, 'marcel': host_marcel, 'robospierre': host_robospierre, + 'guybrush': host_guybrush, } target_marcel = dict ( scale = 0.0415178942124, footing = 0xcef, @@ -54,8 +65,22 @@ target_robospierre = dict ( e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) +target_guybrush = dict ( + aux_nb = 0, + scale = 0.0317975134344, footing = 0x134e, + encoder_right_correction = float (0xffa897) / (1 << 24), + 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, + angle_limit = 0x1000, + ) target = { 'giboulee': target_marcel, 'marcel': target_marcel, 'robospierre': target_robospierre, + 'guybrush': target_guybrush, } -- cgit v1.2.3