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authordufourj2006-03-11 17:20:06 +0000
committerdufourj2006-03-11 17:20:06 +0000
commit1819d52491c978059099a94c2a4b21f4a9a604a0 (patch)
treed0e5156206d72e3145f89708e1650f411315b19c /i/marvin/runtime/rc/config
parent15cd6ebf2ae12c601d6f6aef8337aa16effeacc2 (diff)
Marvin :
- ajout du fichier de config et du lien ; - classe de Log avec des niveaux changeables de puis le fichier de config.
Diffstat (limited to 'i/marvin/runtime/rc/config')
-rw-r--r--i/marvin/runtime/rc/config41
1 files changed, 41 insertions, 0 deletions
diff --git a/i/marvin/runtime/rc/config b/i/marvin/runtime/rc/config
new file mode 100644
index 0000000..d01fb8a
--- /dev/null
+++ b/i/marvin/runtime/rc/config
@@ -0,0 +1,41 @@
+### Asservissement
+asserv.tty = "/dev/ttyS1"
+asserv.footing = 0xE3F
+asserv.epsilon = 200.00
+# Aprés homolgation, passage de 64 à 96
+asserv.accel = 50 #faut que ca fasse 8 dans l'AVR
+asserv.kp = 0x1700 # 0x0FFF -> 0x0B00
+asserv.ki = 0x0040
+asserv.kd = 0x0FFF
+asserv.eSat = 1023 # p E w
+asserv.speedIntMax = 8191 #Isat
+asserv.dSample = 1 # p s b
+# Aprés homolgation, passage de 16 à 8
+asserv.maxSLin = 4
+asserv.maxSRot = 4
+asserv.useTazFSM = false
+asserv.pwmMax = 256
+asserv.leftInvPwm = false
+asserv.rightInvPwm = true
+asserv.mmPpas = 0.05076697072187489323
+asserv.sPperiod = 0.004 # 4 milisecondes
+
+### ES
+es.tty = "/dev/ttyS0"
+
+### Motor
+motor.pStatPosition = 8
+motor.pStatMotor = 0
+
+### Log
+# Default minimum level outputed
+log.level.default = "info"
+# Can be specialized for a specific module
+# For example, with the module asserv
+# log.level.asserv = "debug"
+
+### Exemples
+foo = "toto"
+ bar = ("a" "b" "c")
+foobar = (4 5 6 7 8)
+