From c5ec7a7a497328a9ac16f58464bdba2760689218 Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 7 May 2006 23:34:57 +0000 Subject: Ajout de nouvelles commandes et coef à Brice. Merci Brice !!! --- n/asserv/utils/graph/asserv_graph.cc | 26 ++++++++++++++++++++------ n/asserv/utils/graph/plot/avr.plot | 2 +- n/asserv/utils/graph/rc/config.avr | 18 ++++++++++-------- n/asserv/utils/graph/rc/config.host | 5 +++-- 4 files changed, 34 insertions(+), 17 deletions(-) (limited to 'n/asserv/utils/graph') diff --git a/n/asserv/utils/graph/asserv_graph.cc b/n/asserv/utils/graph/asserv_graph.cc index 2453031..2edb612 100644 --- a/n/asserv/utils/graph/asserv_graph.cc +++ b/n/asserv/utils/graph/asserv_graph.cc @@ -28,6 +28,7 @@ #include #include +#include /// Classe de connexion à Proto. class AsservGraph : public Proto::Receiver @@ -49,7 +50,7 @@ class AsservGraph : public Proto::Receiver int n; int sP, sS, sC, sW, sY; bool host; - double iu_mm; + double iu_mm, footing; int seq; public: AsservGraph (int argc, char **argv) @@ -81,8 +82,9 @@ class AsservGraph : public Proto::Receiver if (host) { sY = config.get ("asserv.stat_simu"); - iu_mm = config.get ("iu_mm"); } + iu_mm = config.get ("iu_mm"); + footing = config.get ("footing"); proto_.open (config.get ("asserv.tty")); init (); } @@ -106,7 +108,6 @@ class AsservGraph : public Proto::Receiver proto_.send ('W', "b", sW); if (host) proto_.send ('Y', "b", sY); - ///proto_.send ('p', "bw", 'h', (int) ((110 - 0) * iu_mm)); } void receive (char command, const Proto::Frame &frame) { @@ -155,6 +156,7 @@ class AsservGraph : public Proto::Receiver " c teste le pas\n" " s DUR teste la vitesse\n" " p teste la position à vitesse controlée\n" + " r teste la position à vitesse controlée\n" " h teste la detection de trous\n" << std::endl; } @@ -194,8 +196,8 @@ class AsservGraph : public Proto::Receiver proto_.wait (-1); break; case 'c': - proto_.send ('c', "ww", 128, 0); - for (n = 0; n < 100;) + proto_.send ('c', "ww", 1000, 0); + for (n = 0; n < 400;) proto_.wait (-1); break; case 's': @@ -212,7 +214,19 @@ class AsservGraph : public Proto::Receiver proto_.wait (-1); break; case 'p': - proto_.send ('s', "wwbb", 1024, 0, 64, 0); + proto_.send ('s', "ddb", (int) (iu_mm * 420), 0, 1); + for (n = 0; n < 500;) + proto_.wait (-1); + break; + case 'r': + proto_.send ('s', "ddb", 0, + (int) (iu_mm * M_PI_2 * 0.5 * footing), 1); + for (n = 0; n < 500;) + proto_.wait (-1); + break; + case 'R': + proto_.send ('s', "ddb", (int) (iu_mm * 512), + (int) (iu_mm * -64), 1); for (n = 0; n < 500;) proto_.wait (-1); break; diff --git a/n/asserv/utils/graph/plot/avr.plot b/n/asserv/utils/graph/plot/avr.plot index 10a0789..8403faf 100644 --- a/n/asserv/utils/graph/plot/avr.plot +++ b/n/asserv/utils/graph/plot/avr.plot @@ -1,2 +1,2 @@ set style data line -plot 'avr' using 1 title "te", 'avr' using 2 title "ti", 'avr' using 3 title "ae", 'avr' using 4 title "ai", 'avr' using 5 title "pl", 'avr' using 6 title "pr" +plot 'avr' using 1 title "te", 'avr' using 2 title "ti", 'avr' using 3 title "ae", 'avr' using 4 title "ai", 'avr' using 5 title "pl", 'avr' using 6 title "pr", 'avr' using ($13+$14) title "ct", 'avr' using ($13-$14) title "ca" diff --git a/n/asserv/utils/graph/rc/config.avr b/n/asserv/utils/graph/rc/config.avr index 0bf6222..cbfc174 100644 --- a/n/asserv/utils/graph/rc/config.avr +++ b/n/asserv/utils/graph/rc/config.avr @@ -1,24 +1,26 @@ asserv.tty = "/dev/ttyS0" -asserv.tkp = 512 -asserv.tki = 64 +asserv.tkp = 100 +asserv.tki = 3 asserv.tkd = 0 -asserv.akp = 2048 -asserv.aki = 128 +asserv.akp = 550 +asserv.aki = 7 asserv.akd = 0 asserv.esat = 1023 -asserv.isat = 255 -asserv.tspm = 64 -asserv.aspm = 64 +asserv.isat = 3072 asserv.ta = 256 asserv.aa = 256 +asserv.tspm = 96 +asserv.aspm = 96 asserv.stat_pos = 1 asserv.stat_speed = 0 -asserv.stat_count = 0 +asserv.stat_count = 1 asserv.stat_pwm = 1 host = false +iu_mm = 75.78789091394133410940 +footing = 276.0 diff --git a/n/asserv/utils/graph/rc/config.host b/n/asserv/utils/graph/rc/config.host index 5661d96..5272743 100644 --- a/n/asserv/utils/graph/rc/config.host +++ b/n/asserv/utils/graph/rc/config.host @@ -13,8 +13,8 @@ asserv.isat = 128 asserv.ta = 256 asserv.aa = 256 -asserv.tspm = 64 -asserv.aspm = 64 +asserv.tspm = 96 +asserv.aspm = 96 asserv.stat_pos = 1 asserv.stat_speed = 1 @@ -24,3 +24,4 @@ asserv.stat_simu = 1 host = true iu_mm = 75.78789091394133410940 +footing = 276.0 -- cgit v1.2.3