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authorschodet2005-05-04 09:37:58 +0000
committerschodet2005-05-04 09:37:58 +0000
commit1eddebad686d3e290f4eea195b2cd1637ae10fb9 (patch)
tree7d850b1c0d44bf9de48dd452682ecd4602582207 /n/asserv
parent72218747dfc1adb5b150e0c92484caeb51fb835c (diff)
bugfix.
Diffstat (limited to 'n/asserv')
-rw-r--r--n/asserv/src/postrack.c2
-rw-r--r--n/asserv/src/speed.c4
-rw-r--r--n/asserv/src/taz.c14
3 files changed, 6 insertions, 14 deletions
diff --git a/n/asserv/src/postrack.c b/n/asserv/src/postrack.c
index 6478824..d352fa8 100644
--- a/n/asserv/src/postrack.c
+++ b/n/asserv/src/postrack.c
@@ -62,7 +62,7 @@ postrack_set_footing (uint16_t footing);
static inline void
postrack_init (void)
{
- postrack_set_footing (0x184c);
+ postrack_set_footing (0x1837);
}
#define M_PI 3.14159265358979323846 /* pi */
diff --git a/n/asserv/src/speed.c b/n/asserv/src/speed.c
index dd326a6..33a403c 100644
--- a/n/asserv/src/speed.c
+++ b/n/asserv/src/speed.c
@@ -42,7 +42,7 @@ uint16_t speed_left_kp = 0x0fff, speed_right_kp = 0x0fff;
/** I coeficients. 3.8 fixed point format. */
uint16_t speed_left_ki = 0x0008, speed_right_ki = 0x0008;
/** D coeficients. 3.8 fixed point format. */
-uint16_t speed_left_kd = 0x0fff, speed_right_kd = 0x0fff;
+uint16_t speed_left_kd = 0x0002, speed_right_kd = 0x0002;
/** D sample period. */
uint8_t speed_ds = 2;
/** Integral term. */
@@ -286,7 +286,7 @@ speed_distance_lr (int32_t left, int32_t right)
vr248 = dsp_sqrt_f248 (right * 2 / speed_acc);
vr = (vr248 >> 8) & 0xff;
/* Saturate. */
- if (vls != vrs)
+ if (vls == vrs)
max = speed_max_l;
else
max = speed_max_a;
diff --git a/n/asserv/src/taz.c b/n/asserv/src/taz.c
index 468e4ed..e8f44cc 100644
--- a/n/asserv/src/taz.c
+++ b/n/asserv/src/taz.c
@@ -216,17 +216,9 @@ taz_state_1 (void)
taz_substate = 2;
break;
}
- if (taz_pont == 0)
- {
- /* Traversée directe. */
- taz_substate = 10;
- }
- else
- {
- taz_substate = 6;
- /* Direction l'axe des y. */
- goto_angular (0xc0);
- }
+ taz_substate = 4;
+ /* Direction l'axe des y. */
+ goto_angular (0xc0);
}
break;
case 4: