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authordufourj2005-05-05 13:47:18 +0000
committerdufourj2005-05-05 13:47:18 +0000
commiteebc8595234bd4999b66fbd7b88e040ace900d6a (patch)
tree45f291b245174947347800999a72e0861be3786b /2005/i/robert/runtime/rc/config
parentdc1defb9c6dbc965782f1da84979010f2520809c (diff)
Config :
* ralentissement de la vitesse et accélération Ai : * réinitialisation de la PWM à zéro * gestion de rotations inutiles Motor : * fonction pour reset de la PWM sur asserv
Diffstat (limited to '2005/i/robert/runtime/rc/config')
-rw-r--r--2005/i/robert/runtime/rc/config6
1 files changed, 4 insertions, 2 deletions
diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config
index 11f6099..9c7f686 100644
--- a/2005/i/robert/runtime/rc/config
+++ b/2005/i/robert/runtime/rc/config
@@ -2,14 +2,16 @@
asserv.tty = "/dev/ttyS1"
asserv.footing = 0xE3F
asserv.epsilon = 200.00
-asserv.accel = 64 #faut que ca fasse 8 dans l'AVR
+# Aprs homolgation, passage de 64 96
+asserv.accel = 96 #faut que ca fasse 8 dans l'AVR
asserv.kp = 0x0FFF
asserv.ki = 0x0040
asserv.kd = 0x0FFF
asserv.eSat = 1023 # p E w
asserv.speedIntMax = 8191 #Isat
asserv.dSample = 1 # p s b
-asserv.maxSLin = 16
+# Aprs homolgation, passage de 16 8
+asserv.maxSLin = 8
asserv.maxSRot = 4
asserv.useTazFSM = false
asserv.pwmMax = 256