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authordufourj2006-05-26 22:02:30 +0000
committerdufourj2006-05-26 22:02:30 +0000
commit526a70ea2f2505d512b6567ebf052ad0b65c2319 (patch)
tree743dc77b9f594d5b096169d38df3847bf9a879f3 /i/marvin/runtime/rc
parente9a0712596a4d481ba4ecd5f4a25d55da462aaaa (diff)
Asserv :
- activation des stats pour savoir la position ; - correction d'un facteur de 256 ; Es : - correction du bug pour la détection de couleurs du trou. Ai : - amélioration de l'algo.
Diffstat (limited to 'i/marvin/runtime/rc')
-rw-r--r--i/marvin/runtime/rc/config6
1 files changed, 3 insertions, 3 deletions
diff --git a/i/marvin/runtime/rc/config b/i/marvin/runtime/rc/config
index 9b977a8..d7eb03f 100644
--- a/i/marvin/runtime/rc/config
+++ b/i/marvin/runtime/rc/config
@@ -19,7 +19,7 @@ asserv.l_invert_pwm = true
asserv.r_invert_pwm = false
asserv.step_per_mm = 75.78789091394133410940
# Stats.
-asserv.pos_report = 0
+asserv.pos_report = 10
asserv.in_port_report = 0
asserv.counter_stat = 0
asserv.speed_stat = 0
@@ -40,8 +40,8 @@ es.rvb_sensors_max_ov = 250
# Ratio for the algorithm that choose if the color is green or not
es.rvb_sniff_ref_ratio = 3
# Limits for the algorithm of choosing between a black or white ball
-es.rvb_sniff_green_limit = 3700
-es.rvb_sniff_clear_limit = 4000
+es.rvb_sniff_green_limit = 4300
+es.rvb_sniff_clear_limit = 4300
# Stats of RVB Sensor raw data
es.rvb_sensor_mask_stat = 0xFFFF
es.rvb_sensor_stat = 0