summaryrefslogtreecommitdiff
path: root/i/marvin
diff options
context:
space:
mode:
Diffstat (limited to 'i/marvin')
-rw-r--r--i/marvin/runtime/rc/config49
1 files changed, 28 insertions, 21 deletions
diff --git a/i/marvin/runtime/rc/config b/i/marvin/runtime/rc/config
index 573101e..8744cc1 100644
--- a/i/marvin/runtime/rc/config
+++ b/i/marvin/runtime/rc/config
@@ -1,24 +1,31 @@
-### 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
+### Asserv.
+asserv.tty = "/dev/ttyS0"
+asserv.footing = 0x100
+asserv.t_accel = 512
+asserv.a_accel = 1024
+asserv.t_max_speed = 64
+asserv.a_max_speed = 64
+asserv.t_max_speed_slow = 8
+asserv.a_max_speed_slow = 8
+asserv.tkp = 100
+asserv.tki = 3
+asserv.tkd = 0
+asserv.akp = 550
+asserv.aki = 7
+asserv.akd = 0
+asserv.esat = 1023
+asserv.isat = 3072
+asserv.l_invert_pwm = true
+asserv.r_invert_pwm = false
+asserv.step_per_mm = 75.78789091394133410940
+# Stats.
+asserv.pos_report = 8
+asserv.in_port_report = 0
+asserv.counter_stat = 8
+asserv.speed_stat = 0
+asserv.pos_stat = 0
+asserv.pwm_stat = 0
+asserv.timer_stat = 0
### ES
es.tty = "/dev/ttyS0"