From a23ba9429e9110519b395d306ec33a7bdb52dfa3 Mon Sep 17 00:00:00 2001 From: schodet Date: Tue, 23 May 2006 18:21:45 +0000 Subject: Mon config pour asserv. --- i/marvin/runtime/rc/config | 49 ++++++++++++++++++++++++++-------------------- 1 file changed, 28 insertions(+), 21 deletions(-) (limited to 'i') 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" -- cgit v1.2.3