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-rw-r--r--2005/i/robert/runtime/rc/config41
1 files changed, 31 insertions, 10 deletions
diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config
index ab2ec47..0e357fb 100644
--- a/2005/i/robert/runtime/rc/config
+++ b/2005/i/robert/runtime/rc/config
@@ -1,21 +1,42 @@
# Paramètres d'asservissement.
-asserv.tty = "/dev/ttyS0"
-asserv.footing = 0x1842
+asserv.tty = "/dev/ttyS1"
+asserv.footing = 0xE3F
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
-asserv.maxSpeed = 32
+asserv.accel = 64 #faut que ca fasse 8 dans l'AVR
+asserv.kp = 0x0FFF
+asserv.ki = 0x0040
+asserv.kd = 0x0FFF
+asserv.eSat = 1023 # p E w
+asserv.speedIntMax = 8191 #Isat
+asserv.dSample = 1 # p s b
+asserv.maxSLin = 16
+asserv.maxSRot = 8
asserv.useTazFSM = false
asserv.pwmMax = 256
asserv.leftInvPwm = false
asserv.rightInvPwm = true
-asserv.mmPpas = 0.05132374757503138194
+asserv.mmPpas = 0.05076697072187489323
asserv.sPperiod = 0.004 # 4 milisecondes
+# tty de la carte es
+es.tty = "/dev/ttyS0"
+# Paramètre de l'ascenceur
+es.ascMinHaut = 0x20
+es.ascMaxHaut = 0x05
+es.ascAccHaut = 1
+es.ascMinBas = 0x10
+es.ascMaxBas = 0x01
+es.ascAccBas = 1
+
+es.pVentouses = 3
+
+es.pStatTele = 1000
+es.teleSeuil = 1
+
+motor.pStatPosition = 1
+motor.pStatMotor = 1
+
# Exemples.
foo = "toto"
-bar = ("a" "b" "c")
+ bar = ("a" "b" "c")
foobar = (4 5 6 7 8)