From fbd622aa98531d674e26e7ee60d11b4dd7ed05cf Mon Sep 17 00:00:00 2001 From: haller Date: Tue, 3 May 2005 23:27:15 +0000 Subject: Modification des paramètres d'asservissement --- 2005/i/robert/runtime/rc/config | 41 +++++++++++++++++++++++++++++++---------- 1 file changed, 31 insertions(+), 10 deletions(-) (limited to '2005/i') 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) -- cgit v1.2.3