From fd9ce0cc3d9b24ec7661876d2a72c37a808b9eab Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 4 May 2010 02:25:11 +0200 Subject: digital, host/simu: update hardware values --- digital/asserv/src/asserv/models.host.c | 4 ++-- digital/asserv/tools/asserv/init.py | 6 +++--- digital/io/src/bot.h | 10 +++++----- digital/io/tools/test_simu_control.py | 4 ++-- digital/mimot/tools/mimot/init.py | 10 +++++----- 5 files changed, 17 insertions(+), 17 deletions(-) (limited to 'digital') diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c index cba0d458..9c16539a 100644 --- a/digital/asserv/src/asserv/models.host.c +++ b/digital/asserv/src/asserv/models.host.c @@ -283,7 +283,7 @@ static const struct motor_def_t marcel_elevator_model = 9.7, /* Gearbox ratio. */ 0.80, /* Gearbox efficiency. */ /* Load characteristics. */ - 1.0 * 0.01 * 0.01, /* Load (kg.m^2). */ + 1.0 * 0.01115 * 0.01115,/* Load (kg.m^2). */ /* This is a pifometric estimation. */ /* Hardware limits. */ 0.0, +INFINITY, @@ -313,7 +313,7 @@ static const struct robot_t marcel_robot = /** Auxiliary motors, NULL if not present. */ { &marcel_elevator_model, NULL }, /** Number of steps for each auxiliary motor encoder. */ - { 512, 0 }, + { 256, 0 }, /** Sensor update function. */ simu_sensor_update_marcel, }; diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 4a702606..4657315a 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 = 0.25, asm = 0x20, ass = 0x10, a0kp = 4, - a0a = 0.5, a0sm = 0x0c, a0ss = 0x05, + a0a = 4, a0sm = 0x60, a0ss = 0x10, a1kp = 2, a1a = 16, a1sm = 0x46, a1ss = 0x10, E = 0x3ff, D = 0x1ff, @@ -20,12 +20,12 @@ target = dict ( akp = 2, akd = 16, aa = 0.25, asm = 0x20, ass = 0x10, a0kp = 4, - a0a = 0.5, a0sm = 0x0c, a0ss = 0x05, + a0a = 4, a0sm = 0x60, a0ss = 0x10, a0be = 256, a0bs = 0x04, a0bc = 10, a1kp = 2, a1a = 16, a1sm = 0x46, a1ss = 0x10, a1be = 256, a1bs = 0x0c, a1bc = 10, E = 0x3ff, D = 0x1ff, l = 0x1000, - w = 0x08, + w = 0x00, ) diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h index 634d68e7..aa889970 100644 --- a/digital/io/src/bot.h +++ b/digital/io/src/bot.h @@ -60,22 +60,22 @@ #define BOT_MIN_DISTANCE_TURN_FREE 300 /** Elevator stroke in steps. */ -#define BOT_ELEVATOR_STROKE_STEP 11800 +#define BOT_ELEVATOR_STROKE_STEP 7089 /** Elevator work speed. */ -#define BOT_ELEVATOR_SPEED 0x40 +#define BOT_ELEVATOR_SPEED 0x60 /** Elevator find zero speed. */ #define BOT_ELEVATOR_ZERO_SPEED 0x10 /** Clamp stroke in steps. */ -#define BOT_CLAMP_STROKE_STEP 13500 +#define BOT_CLAMP_STROKE_STEP 5627 /** Clamp work speed. */ -#define BOT_CLAMP_SPEED 0x40 +#define BOT_CLAMP_SPEED 0x60 /** Clamp find zero speed. */ -#define BOT_CLAMP_ZERO_SPEED 0x10 +#define BOT_CLAMP_ZERO_SPEED 0x20 /** * Definition of the colors. diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py index 61d0f8df..3ff87fdd 100644 --- a/digital/io/tools/test_simu_control.py +++ b/digital/io/tools/test_simu_control.py @@ -62,7 +62,7 @@ class TestSimuControl (TestSimu): def clamp_command (self): if self.clamp_var.get (): - pos = 6000 + pos = 3441 else: pos = 0 self.mimot.goto_pos ('a0', pos) @@ -70,7 +70,7 @@ class TestSimuControl (TestSimu): def elevator_command (self): if self.elevator_var.get (): - pos = 11800 + pos = 7089 else: pos = 0 self.asserv.goto_pos ('a0', pos) diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py index 57c7fc23..a956ea94 100644 --- a/digital/mimot/tools/mimot/init.py +++ b/digital/mimot/tools/mimot/init.py @@ -1,16 +1,16 @@ """Default parameters for asserv.""" host = dict ( a0kp = 4, - a0a = 0.5, a0sm = 0x0a, a0ss = 0x05, + a0a = 16, a0sm = 0x60, a0ss = 0x20, a1kp = 4, - a1a = 0.5, a1sm = 0x0a, a1ss = 0x05, + a1a = 16, a1sm = 0x60, a1ss = 0x20, E = 0x3ff, D = 0x1ff, ) target = dict ( a0kp = 4, - a0a = 0.5, a0sm = 0x0a, a0ss = 0x05, + a0a = 16, a0sm = 0x60, a0ss = 0x20, a1kp = 4, - a1a = 0.5, a1sm = 0x0a, a1ss = 0x05, + a1a = 16, a1sm = 0x60, a1ss = 0x20, E = 0x3ff, D = 0x1ff, - w = 0x00, + w = 0x03, ) -- cgit v1.2.3