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authordufourj2005-05-06 14:37:10 +0000
committerdufourj2005-05-06 14:37:10 +0000
commit1d6fa32f84b92e6dab641beb918cbb809ce1265b (patch)
treeeafc0c6882233d52fe5afd09c015bb5765340c0e /2005/i/robert/runtime/rc/config
parent03f151f322ddcf22796b810a8a2cb02b55ede491 (diff)
Config rc :
amélioriation des paramêtres asserv (accel/kp) diminution des stats Ai : amélioriation de l'algo de parcour du fond (vitesse/tempo) Asserv : correction des setter invalides (setMaxSpeed/setAccel)
Diffstat (limited to '2005/i/robert/runtime/rc/config')
-rw-r--r--2005/i/robert/runtime/rc/config6
1 files changed, 3 insertions, 3 deletions
diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config
index 9c7f686..041572a 100644
--- a/2005/i/robert/runtime/rc/config
+++ b/2005/i/robert/runtime/rc/config
@@ -3,8 +3,8 @@ asserv.tty = "/dev/ttyS1"
asserv.footing = 0xE3F
asserv.epsilon = 200.00
# Aprs homolgation, passage de 64 96
-asserv.accel = 96 #faut que ca fasse 8 dans l'AVR
-asserv.kp = 0x0FFF
+asserv.accel = 50 #faut que ca fasse 8 dans l'AVR
+asserv.kp = 0x1700 # 0x0FFF -> 0x0B00
asserv.ki = 0x0040
asserv.kd = 0x0FFF
asserv.eSat = 1023 # p E w
@@ -32,7 +32,7 @@ es.ascAccBas = 1
es.pVentouses = 3
-es.pStatTele = 8
+es.pStatTele = 1
es.teleSeuil = 1
motor.pStatPosition = 8