summaryrefslogtreecommitdiff
path: root/2005/i
diff options
context:
space:
mode:
authorhaller2005-04-17 14:05:27 +0000
committerhaller2005-04-17 14:05:27 +0000
commit34c535346d8d01d38099da89384ae3bfe5639692 (patch)
tree9f69209c000c6a631de033a6576a9c32ae4eb6a4 /2005/i
parent8017e62157b75f478b4358ab19ecc97daf921045 (diff)
Première valeur "plausibles"
Diffstat (limited to '2005/i')
-rw-r--r--2005/i/robert/runtime/rc/config22
1 files changed, 11 insertions, 11 deletions
diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config
index fd23d75..b09bef7 100644
--- a/2005/i/robert/runtime/rc/config
+++ b/2005/i/robert/runtime/rc/config
@@ -1,16 +1,16 @@
# Paramètres d'asservissement.
asserv.tty = "-"
-asserv.footing = 12
-asserv.epsilon = 12.2
-asserv.accel = 32.2
-asserv.kp = 23.3
-asserv.ki = 76.2
-asserv.kd = 23.3
-asserv.speedIntMax = 23
-asserv.maxSpeed = 23.8
-asserv.pwmMax = 255
-asserv.mmPpas = 298290.23
-asserv.sPperiod = 389749.23
+asserv.footing = 0x1842
+asserv.epsilon = 200
+asserv.accel = 2 #faut que ca fasse 8 dans l'AVR
+asserv.kp = 2.0
+asserv.ki = 0.03125
+asserv.kd = 1.00
+asserv.speedIntMax = 1024.00
+asserv.maxSpeed = 32.0
+asserv.pwmMax = 256
+asserv.mmPpas = 0.050894
+asserv.sPperiod = 0.004 # 4 milisecondes
# Exemples.