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authorhaller2005-04-19 00:35:51 +0000
committerhaller2005-04-19 00:35:51 +0000
commitf5f570848d1c677b3c621025281268b9b61435f5 (patch)
tree45f859eba63aa2003f5ad2c84886185da9cb1c4d
parent9dbe6192cf66df4c0668ae3c4bc927f39b8be4e3 (diff)
Ajout de nouvelles variables asserv
Modification de asserv.sPperiod
-rw-r--r--2005/i/robert/runtime/rc/config11
1 files changed, 7 insertions, 4 deletions
diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config
index d3ee282..ab2ec47 100644
--- a/2005/i/robert/runtime/rc/config
+++ b/2005/i/robert/runtime/rc/config
@@ -1,15 +1,18 @@
# Paramètres d'asservissement.
asserv.tty = "/dev/ttyS0"
asserv.footing = 0x1842
-asserv.epsilon = 200
+asserv.epsilon = 200.00
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.speedIntMax = 1024
+asserv.maxSpeed = 32
+asserv.useTazFSM = false
asserv.pwmMax = 256
-asserv.mmPpas = 0.050894
+asserv.leftInvPwm = false
+asserv.rightInvPwm = true
+asserv.mmPpas = 0.05132374757503138194
asserv.sPperiod = 0.004 # 4 milisecondes
# Exemples.