From 1819d52491c978059099a94c2a4b21f4a9a604a0 Mon Sep 17 00:00:00 2001 From: dufourj Date: Sat, 11 Mar 2006 17:20:06 +0000 Subject: Marvin : - ajout du fichier de config et du lien ; - classe de Log avec des niveaux changeables de puis le fichier de config. --- i/marvin/runtime/rc/config | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 i/marvin/runtime/rc/config (limited to 'i/marvin/runtime/rc') 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) + -- cgit v1.2.3