From 66b1ebc00ffc4bc57ad80343576f7594f19dafe7 Mon Sep 17 00:00:00 2001 From: schodet Date: Thu, 22 Apr 2004 21:53:09 +0000 Subject: Asservissement version 0.4 --- 2004/i/nono/runtime/rc/asserv | 3 ++- 2004/i/nono/runtime/rc/asserv.i386 | 2 +- 2004/i/nono/runtime/rc/motor | 6 +++--- 2004/i/nono/runtime/rc/movement/goto | 8 ++++---- 4 files changed, 10 insertions(+), 9 deletions(-) (limited to '2004/i') diff --git a/2004/i/nono/runtime/rc/asserv b/2004/i/nono/runtime/rc/asserv index 4f7d4bb..09e89de 100644 --- a/2004/i/nono/runtime/rc/asserv +++ b/2004/i/nono/runtime/rc/asserv @@ -1,4 +1,5 @@ -accel 1 +accel 8 counter true ki 16 tty "/dev/tty00" +ttyspeed 38400 diff --git a/2004/i/nono/runtime/rc/asserv.i386 b/2004/i/nono/runtime/rc/asserv.i386 index 9be0cff..05d4dc9 100644 --- a/2004/i/nono/runtime/rc/asserv.i386 +++ b/2004/i/nono/runtime/rc/asserv.i386 @@ -1 +1 @@ -tty "/dev/null" +tty "/dev/ttyS0" diff --git a/2004/i/nono/runtime/rc/motor b/2004/i/nono/runtime/rc/motor index ef3fa5d..43c9708 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 300.7626868453 -accelscale 1000 -maxspeed 0x40 +accelscale 940.67171136562 +maxspeed 0x20 minspeed 0x01 +brakedistance 500 diff --git a/2004/i/nono/runtime/rc/movement/goto b/2004/i/nono/runtime/rc/movement/goto index 478fee9..67284c7 100644 --- a/2004/i/nono/runtime/rc/movement/goto +++ b/2004/i/nono/runtime/rc/movement/goto @@ -1,5 +1,5 @@ -epsilon 100 -distance 150 -kpl 1.0 kil 0.1 kdl 0.7 -kpa 1.0 kia 0.1 kda 0.7 +epsilon 30 +distance 100 +kpl 1.0 kil 0.0 kdl 0.7 +kpa 1.0 kia 0.01 kda 0.7 is 20 -- cgit v1.2.3