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authorschodet2005-05-01 15:36:43 +0000
committerschodet2005-05-01 15:36:43 +0000
commit714e86c96ff93fb78d4340cb607c12927091417b (patch)
treef28de78f252dc450550151c6324f1e44b4633473 /n/asserv/src/robots.txt
parent7bed3836db97e3c626a604cbe8b10c49236bb724 (diff)
Ajout de e_sat.
Ajout de moyenage de d. Ajout d'un print des paramètres. Mesures des robot. Période d'asservissement 1.1 ms. PWM à 14KHz.
Diffstat (limited to 'n/asserv/src/robots.txt')
-rw-r--r--n/asserv/src/robots.txt35
1 files changed, 35 insertions, 0 deletions
diff --git a/n/asserv/src/robots.txt b/n/asserv/src/robots.txt
new file mode 100644
index 0000000..f82dba0
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+++ b/n/asserv/src/robots.txt
@@ -0,0 +1,35 @@
+kp * E: 15b
+ki * I: 14b
+kd * E: ~13b
+
+-----------------------------
+Mani:
+
+kp 16 0fff
+E 1023 03ff
+ki 1/4 0040
+I 8191 1fff
+kd 16 0fff
+ds 1 01
+a 64 40
+m 16 10
+scale .05076697072187489323
+footing 315.861 E3F.29
+
+20 tours: 37F70 37EDC
+
+-----------------------------
+Taz:
+
+kp 16 0fff
+E 1023 03ff
+ki 1/32 0008
+I 8191 1fff
+kd 16 0fff
+ds 2 02
+a 64 40
+m 16 10
+scale .05077874252508530693
+footing 185.198 184C.59
+
+20 tours: 5F783 5F5E5