From ba4f2fedc890eb3a565c5d92cce6e88d2134e2ab Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 25 Apr 2004 20:48:17 +0000 Subject: Réglage des coefs. --- 2004/i/nono/runtime/rc/asserv | 7 ++++--- 2004/i/nono/runtime/rc/motor | 4 ++-- 2004/i/nono/runtime/rc/movement/goto | 6 +++--- 2004/i/nono/runtime/rc/movement/rotation | 6 +++--- 4 files changed, 12 insertions(+), 11 deletions(-) (limited to '2004/i/nono') diff --git a/2004/i/nono/runtime/rc/asserv b/2004/i/nono/runtime/rc/asserv index 09e89de..206b962 100644 --- a/2004/i/nono/runtime/rc/asserv +++ b/2004/i/nono/runtime/rc/asserv @@ -1,5 +1,6 @@ -accel 8 -counter true +accel 4 ki 16 +counter true +posasserv true tty "/dev/tty00" -ttyspeed 38400 +ttyspeed 115200 diff --git a/2004/i/nono/runtime/rc/motor b/2004/i/nono/runtime/rc/motor index 43c9708..d0f6835 100644 --- a/2004/i/nono/runtime/rc/motor +++ b/2004/i/nono/runtime/rc/motor @@ -1,6 +1,6 @@ scale -.1204059790 speedscale -30.1014947637 accelscale 940.67171136562 -maxspeed 0x20 +maxspeed 0x40 minspeed 0x01 -brakedistance 500 +brakedistance 600 diff --git a/2004/i/nono/runtime/rc/movement/goto b/2004/i/nono/runtime/rc/movement/goto index 67284c7..29b5b46 100644 --- a/2004/i/nono/runtime/rc/movement/goto +++ b/2004/i/nono/runtime/rc/movement/goto @@ -1,5 +1,5 @@ epsilon 30 distance 100 -kpl 1.0 kil 0.0 kdl 0.7 -kpa 1.0 kia 0.01 kda 0.7 -is 20 +kpl 0.6 kil 0.0 kdl 0.0 +kpa 1.4 kia 0.0 kda 0.0 +is 0.5 diff --git a/2004/i/nono/runtime/rc/movement/rotation b/2004/i/nono/runtime/rc/movement/rotation index 0f4c259..3f8f589 100644 --- a/2004/i/nono/runtime/rc/movement/rotation +++ b/2004/i/nono/runtime/rc/movement/rotation @@ -1,3 +1,3 @@ -epsilon .062800000000 -kpa 0.7 kia 0.1 kda 0.7 -is 20 +epsilon .01 +kpa 1.0 kia 0.0 kda 0.0 +is 1 -- cgit v1.2.3