From 8f486613be58ced269db1d437e560c16558604e8 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 18:49:20 +0000 Subject: Création de chuck, le programme du robot 2007. --- i/chuck/runtime/rc/config | 100 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 100 insertions(+) create mode 100644 i/chuck/runtime/rc/config (limited to 'i/chuck/runtime') diff --git a/i/chuck/runtime/rc/config b/i/chuck/runtime/rc/config new file mode 100644 index 0000000..d7eb03f --- /dev/null +++ b/i/chuck/runtime/rc/config @@ -0,0 +1,100 @@ +### Asserv. +asserv.tty = "/dev/ttyS0" +asserv.footing = 20841 +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 = 10 +asserv.in_port_report = 0 +asserv.counter_stat = 0 +asserv.speed_stat = 0 +asserv.pos_stat = 0 +asserv.pwm_stat = 0 +asserv.timer_stat = 0 + +### ES +es.tty = "/dev/ttyS1" +# Frequency of ack when something important happened +es.ack_freq = 10 +# Frequency of main stats +es.main_stat = 0 +# Max false input capture before the sensor is ready for a real capture +es.rvb_sensors_false_ic = 3 +# Max overflow of the TC1 before though the sensor is dead +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 = 4300 +es.rvb_sniff_clear_limit = 4300 +# Stats of RVB Sensor raw data +es.rvb_sensor_mask_stat = 0xFFFF +es.rvb_sensor_stat = 0 +# Stats of RVB Sniff data +es.rvb_sniff_mask_stat = 0xFFFF +es.rvb_sniff_stat = 0 +# Stats of RVB Ball data +es.rvb_ball_stat = 0 +# Stats of others module (jack + colour selection) +es.others_stat = 0 +# Stats for printing out key pressed onto the LCD keyboard +es.lcd_key_stat = 0 +# Print stat of front sensors +es.rvb_sniff_front_stat = 0 +# Threshold of front sensors at the bottom +es.threshold_front_sensors = 4 +# Threshold of ball sensors +es.threshold_ball_sensors = 4 +# Threshold of hole sensor +es.threshold_hole_sensors = 4 + +### Artificial Intelligency ! +# Time of match in milliseconds ! +ai.round_duration = 90000 +# Max time to wait before release hand if nothing happened on serial (ms). +ai.schedule_time = 100 +# Reference which sensor at boot time +# 127 for the only the lower ones +ai.ref_sensor_mask = 127 + +### Log +# Default minimum level outputed +# log.level.default = "debug" +# Can be specialized for a specific module +# For example, with the module asserv +# log.level.asserv = "debug" +# The same for the logger used to log +# Possible values are : +# - null : no log, optimized for time ; +# - stdout : to stdout ; +# - file:/path/filename : to a file ; +# - ram : in a circular buffer for getting it at the end of the program by +# network. +# log.logger.default = "ram" +# log.logger.asserv = "null" +log.logger.default = "stdout" +log.level.default = "debug" +log.logger.proto = "null" + +### Exemples +foo = "toto" + bar = ("a" "b" "c") +foobar = (4 5 6 7 8) + +# TestProto +#testProto.tty = "/home/nicolas/robotSVN/n/asserv/src/asserv/uart0.pts" -- cgit v1.2.3