From c2f9b6a00b3fd23aa01c668725638800a28c540c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 29 Apr 2008 21:35:52 +0200 Subject: * digital/asserv/tools: - updated parameters after encoder wheel change. --- digital/asserv/doc/parameters.txt | 4 +++- digital/asserv/tools/init.py | 4 ++-- digital/io/src/giboulee.h | 2 +- 3 files changed, 6 insertions(+), 4 deletions(-) (limited to 'digital') diff --git a/digital/asserv/doc/parameters.txt b/digital/asserv/doc/parameters.txt index e2a7c894..3aced78e 100644 --- a/digital/asserv/doc/parameters.txt +++ b/digital/asserv/doc/parameters.txt @@ -13,6 +13,8 @@ Select a flat, clean and long (2 to 10 meters) surface, then position the robot precisely on a starting line. Draw a parallel line at the other end and measure distance between the two lines. +Be sure not to have any correction factor set. + Now, reset the robot counters and start monitoring left counter value. Drag the robot as linearly as possible until it reaches the final line. While doing this, remember any counter overflow or try to calculate how many @@ -75,7 +77,7 @@ by the two encoders to do the number of turns. The encoders footing is given by:: - difference / 2 / pi + difference / number_of_turns / 2 / pi The ``2`` divider is there because we summed the distance traveled by both encoders. Then we divide by ``pi`` to get the diameter. diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py index 9a2c1b6c..c774060e 100644 --- a/digital/asserv/tools/init.py +++ b/digital/asserv/tools/init.py @@ -8,8 +8,8 @@ host = dict ( a0a = 0.5, a0sm = 0x10, a0ss = 0x05, ) target = dict ( - scale = 0.0413359788359788, f = 0xcf9, - c = float (0x100adec) / (1 << 24), + scale = 0.0413530725332892, f = 0xcfa, + c = float (0xffefbe) / (1 << 24), tkp = 1, tkd = 16, akp = 2, akd = 16, a0p = 0.8, a0i = 0.05, a0d = 0.05, E = 0x3ff, D = 0x1ff, I = 0x1fff, diff --git a/digital/io/src/giboulee.h b/digital/io/src/giboulee.h index 2d04cff2..766ab7d8 100644 --- a/digital/io/src/giboulee.h +++ b/digital/io/src/giboulee.h @@ -72,7 +72,7 @@ #ifdef HOST # define BOT_SCALE 0.0395840674352314 #else -# define BOT_SCALE 0.0413359788359788 +# define BOT_SCALE 0.0413530725332892 #endif /** -- cgit v1.2.3