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authorschodet2006-05-19 23:13:02 +0000
committerschodet2006-05-19 23:13:02 +0000
commitd4c3552bfa3a97ad9c962a71cef6413a94a157f3 (patch)
tree71fa04fa208b75e3fe519d9e00fefd849a39376a /n
parent1b5ceef61990ef11a7015ab7a10e6a9326e478f4 (diff)
Le centrage marche de la bombe de balle, merci djerem.
Diffstat (limited to 'n')
-rw-r--r--n/asserv/src/asserv/main.c2
-rw-r--r--n/asserv/src/asserv/traj.c8
-rw-r--r--n/asserv/utils/graph/asserv_graph.cc2
-rw-r--r--n/asserv/utils/graph/rc/config.avr4
4 files changed, 8 insertions, 8 deletions
diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c
index 54b9794..cc6fa2c 100644
--- a/n/asserv/src/asserv/main.c
+++ b/n/asserv/src/asserv/main.c
@@ -197,7 +197,7 @@ main_loop (void)
}
if (main_print_pin && !--main_print_pin_cpt)
{
- proto_send2b ('I', PINA, PINF);
+ proto_send2b ('I', PINA, PINF & 0xf);
main_print_pin_cpt = main_print_pin;
}
/* Misc. */
diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c
index cfdbbc4..21f60a4 100644
--- a/n/asserv/src/asserv/traj.c
+++ b/n/asserv/src/asserv/traj.c
@@ -82,14 +82,14 @@ traj_holes (void)
else if (in & 1)
{
/* Left. */
- speed_theta_cons = speed / 2;
- speed_alpha_cons = speed / 2;
+ speed_theta_cons = 0;
+ speed_alpha_cons = speed;
}
else if (in & 2)
{
/* Right. */
- speed_theta_cons = speed / 2;
- speed_alpha_cons = -speed / 2;
+ speed_theta_cons = 0;
+ speed_alpha_cons = -speed;
}
else if (in & 8)
{
diff --git a/n/asserv/utils/graph/asserv_graph.cc b/n/asserv/utils/graph/asserv_graph.cc
index 068fd72..900276d 100644
--- a/n/asserv/utils/graph/asserv_graph.cc
+++ b/n/asserv/utils/graph/asserv_graph.cc
@@ -147,7 +147,7 @@ class AsservGraph : public Proto::Receiver
<< hx << ' ' << hy << ' ' << ((double) ha / 1024) << ' '
<< dh << ' '
<< cl << ' ' << cr << ' '
- << z0 << ' ' << std::hex << z1 << ' ' << z2 << ' ' << ack << std::endl;
+ << z0 << ' ' << z1 << ' ' << z2 << ' ' << ack << std::endl;
te = ti = ae = ai = 0;
tsc = asc = 0;
cl = cr = 0;
diff --git a/n/asserv/utils/graph/rc/config.avr b/n/asserv/utils/graph/rc/config.avr
index a17dc84..c2da1ca 100644
--- a/n/asserv/utils/graph/rc/config.avr
+++ b/n/asserv/utils/graph/rc/config.avr
@@ -11,8 +11,8 @@ asserv.akd = 0
asserv.esat = 1023
asserv.isat = 3072
-asserv.ta = 1024
-asserv.aa = 2048
+asserv.ta = 512
+asserv.aa = 1024
asserv.tspm = 64
asserv.aspm = 64
asserv.tsps = 8