From 1eddebad686d3e290f4eea195b2cd1637ae10fb9 Mon Sep 17 00:00:00 2001 From: schodet Date: Wed, 4 May 2005 09:37:58 +0000 Subject: bugfix. --- n/asserv/src/postrack.c | 2 +- n/asserv/src/speed.c | 4 ++-- n/asserv/src/taz.c | 14 +++----------- 3 files changed, 6 insertions(+), 14 deletions(-) (limited to 'n') diff --git a/n/asserv/src/postrack.c b/n/asserv/src/postrack.c index 6478824..d352fa8 100644 --- a/n/asserv/src/postrack.c +++ b/n/asserv/src/postrack.c @@ -62,7 +62,7 @@ postrack_set_footing (uint16_t footing); static inline void postrack_init (void) { - postrack_set_footing (0x184c); + postrack_set_footing (0x1837); } #define M_PI 3.14159265358979323846 /* pi */ diff --git a/n/asserv/src/speed.c b/n/asserv/src/speed.c index dd326a6..33a403c 100644 --- a/n/asserv/src/speed.c +++ b/n/asserv/src/speed.c @@ -42,7 +42,7 @@ uint16_t speed_left_kp = 0x0fff, speed_right_kp = 0x0fff; /** I coeficients. 3.8 fixed point format. */ uint16_t speed_left_ki = 0x0008, speed_right_ki = 0x0008; /** D coeficients. 3.8 fixed point format. */ -uint16_t speed_left_kd = 0x0fff, speed_right_kd = 0x0fff; +uint16_t speed_left_kd = 0x0002, speed_right_kd = 0x0002; /** D sample period. */ uint8_t speed_ds = 2; /** Integral term. */ @@ -286,7 +286,7 @@ speed_distance_lr (int32_t left, int32_t right) vr248 = dsp_sqrt_f248 (right * 2 / speed_acc); vr = (vr248 >> 8) & 0xff; /* Saturate. */ - if (vls != vrs) + if (vls == vrs) max = speed_max_l; else max = speed_max_a; diff --git a/n/asserv/src/taz.c b/n/asserv/src/taz.c index 468e4ed..e8f44cc 100644 --- a/n/asserv/src/taz.c +++ b/n/asserv/src/taz.c @@ -216,17 +216,9 @@ taz_state_1 (void) taz_substate = 2; break; } - if (taz_pont == 0) - { - /* Traversée directe. */ - taz_substate = 10; - } - else - { - taz_substate = 6; - /* Direction l'axe des y. */ - goto_angular (0xc0); - } + taz_substate = 4; + /* Direction l'axe des y. */ + goto_angular (0xc0); } break; case 4: -- cgit v1.2.3