From 714e86c96ff93fb78d4340cb607c12927091417b Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 1 May 2005 15:36:43 +0000 Subject: Ajout de e_sat. Ajout de moyenage de d. Ajout d'un print des paramètres. Mesures des robot. Période d'asservissement 1.1 ms. PWM à 14KHz. --- n/asserv/src/taz.c | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) (limited to 'n/asserv/src/taz.c') diff --git a/n/asserv/src/taz.c b/n/asserv/src/taz.c index 8aba939..60c8330 100644 --- a/n/asserv/src/taz.c +++ b/n/asserv/src/taz.c @@ -32,10 +32,12 @@ uint8_t taz_max_state = 0xff; uint8_t taz_max_substate; /** Positions. */ -//#define taz_scale (1.0/0.05026548245743669181) -//#define taz_scale (1.0/.05090591755319148936) -//#define taz_scale (1.0/.05132374757503138194) -#define taz_scale (1.0/.05124525981346725427) +/******************************** + * * + * !!! LES Y SONT NÉGATIFS !!! * + * * + ********************************/ +#define taz_scale (1.0/.05077874252508530693) static const uint32_t taz_rear_angle = 0x00ff90bf; static const uint16_t taz_rear_16 = taz_scale * 270 / 2; static const uint32_t taz_rear_32 = taz_scale * 270 / 2 * 256; @@ -229,13 +231,13 @@ taz_state_1 (void) taz_substate = 2; break; } - /* Direction l'axe des y. */ if (taz_pont == 0) { taz_substate = 10; } else { + /* Direction l'axe des y. */ taz_substate = 6; motor_mode = 2; goto_mode = 1; @@ -273,7 +275,7 @@ taz_state_1 (void) motor_mode = 2; goto_mode = 0; goto_sign = 0; - goto_d = taz_start_y_16 + taz_pont * taz_brige_interval_16 - + goto_d = taz_start_y_16 + taz_pont * taz_brige_interval_16 + (postrack_y >> 8); goto_x = postrack_x; goto_y = postrack_y; -- cgit v1.2.3