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authorschodet2004-04-25 20:48:17 +0000
committerschodet2004-04-25 20:48:17 +0000
commitba4f2fedc890eb3a565c5d92cce6e88d2134e2ab (patch)
treea9bb84fe666e5077fb49edf857ba5cfbe5166b23 /2004/i/nono/runtime
parent13dba8f498f3906ec820f2d59c0a4d54327f5f62 (diff)
R├ęglage des coefs.
Diffstat (limited to '2004/i/nono/runtime')
-rw-r--r--2004/i/nono/runtime/rc/asserv7
-rw-r--r--2004/i/nono/runtime/rc/motor4
-rw-r--r--2004/i/nono/runtime/rc/movement/goto6
-rw-r--r--2004/i/nono/runtime/rc/movement/rotation6
4 files changed, 12 insertions, 11 deletions
diff --git a/2004/i/nono/runtime/rc/asserv b/2004/i/nono/runtime/rc/asserv
index 09e89de..206b962 100644
--- a/2004/i/nono/runtime/rc/asserv
+++ b/2004/i/nono/runtime/rc/asserv
@@ -1,5 +1,6 @@
-accel 8
-counter true
+accel 4
ki 16
+counter true
+posasserv true
tty "/dev/tty00"
-ttyspeed 38400
+ttyspeed 115200
diff --git a/2004/i/nono/runtime/rc/motor b/2004/i/nono/runtime/rc/motor
index 43c9708..d0f6835 100644
--- a/2004/i/nono/runtime/rc/motor
+++ b/2004/i/nono/runtime/rc/motor
@@ -1,6 +1,6 @@
scale -.1204059790
speedscale -30.1014947637
accelscale 940.67171136562
-maxspeed 0x20
+maxspeed 0x40
minspeed 0x01
-brakedistance 500
+brakedistance 600
diff --git a/2004/i/nono/runtime/rc/movement/goto b/2004/i/nono/runtime/rc/movement/goto
index 67284c7..29b5b46 100644
--- a/2004/i/nono/runtime/rc/movement/goto
+++ b/2004/i/nono/runtime/rc/movement/goto
@@ -1,5 +1,5 @@
epsilon 30
distance 100
-kpl 1.0 kil 0.0 kdl 0.7
-kpa 1.0 kia 0.01 kda 0.7
-is 20
+kpl 0.6 kil 0.0 kdl 0.0
+kpa 1.4 kia 0.0 kda 0.0
+is 0.5
diff --git a/2004/i/nono/runtime/rc/movement/rotation b/2004/i/nono/runtime/rc/movement/rotation
index 0f4c259..3f8f589 100644
--- a/2004/i/nono/runtime/rc/movement/rotation
+++ b/2004/i/nono/runtime/rc/movement/rotation
@@ -1,3 +1,3 @@
-epsilon .062800000000
-kpa 0.7 kia 0.1 kda 0.7
-is 20
+epsilon .01
+kpa 1.0 kia 0.0 kda 0.0
+is 1