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-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.