From 34c535346d8d01d38099da89384ae3bfe5639692 Mon Sep 17 00:00:00 2001 From: haller Date: Sun, 17 Apr 2005 14:05:27 +0000 Subject: Première valeur "plausibles" --- 2005/i/robert/runtime/rc/config | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) (limited to '2005') 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. -- cgit v1.2.3