From f5f570848d1c677b3c621025281268b9b61435f5 Mon Sep 17 00:00:00 2001 From: haller Date: Tue, 19 Apr 2005 00:35:51 +0000 Subject: Ajout de nouvelles variables asserv Modification de asserv.sPperiod --- 2005/i/robert/runtime/rc/config | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to '2005') diff --git a/2005/i/robert/runtime/rc/config b/2005/i/robert/runtime/rc/config index d3ee282..ab2ec47 100644 --- a/2005/i/robert/runtime/rc/config +++ b/2005/i/robert/runtime/rc/config @@ -1,15 +1,18 @@ # Paramètres d'asservissement. asserv.tty = "/dev/ttyS0" asserv.footing = 0x1842 -asserv.epsilon = 200 +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 = 1024.00 -asserv.maxSpeed = 32.0 +asserv.speedIntMax = 1024 +asserv.maxSpeed = 32 +asserv.useTazFSM = false asserv.pwmMax = 256 -asserv.mmPpas = 0.050894 +asserv.leftInvPwm = false +asserv.rightInvPwm = true +asserv.mmPpas = 0.05132374757503138194 asserv.sPperiod = 0.004 # 4 milisecondes # Exemples. -- cgit v1.2.3