From d4c3552bfa3a97ad9c962a71cef6413a94a157f3 Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 19 May 2006 23:13:02 +0000 Subject: Le centrage marche de la bombe de balle, merci djerem. --- n/asserv/src/asserv/main.c | 2 +- n/asserv/src/asserv/traj.c | 8 ++++---- n/asserv/utils/graph/asserv_graph.cc | 2 +- n/asserv/utils/graph/rc/config.avr | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) (limited to 'n/asserv') diff --git a/n/asserv/src/asserv/main.c b/n/asserv/src/asserv/main.c index 54b9794..cc6fa2c 100644 --- a/n/asserv/src/asserv/main.c +++ b/n/asserv/src/asserv/main.c @@ -197,7 +197,7 @@ main_loop (void) } if (main_print_pin && !--main_print_pin_cpt) { - proto_send2b ('I', PINA, PINF); + proto_send2b ('I', PINA, PINF & 0xf); main_print_pin_cpt = main_print_pin; } /* Misc. */ diff --git a/n/asserv/src/asserv/traj.c b/n/asserv/src/asserv/traj.c index cfdbbc4..21f60a4 100644 --- a/n/asserv/src/asserv/traj.c +++ b/n/asserv/src/asserv/traj.c @@ -82,14 +82,14 @@ traj_holes (void) else if (in & 1) { /* Left. */ - speed_theta_cons = speed / 2; - speed_alpha_cons = speed / 2; + speed_theta_cons = 0; + speed_alpha_cons = speed; } else if (in & 2) { /* Right. */ - speed_theta_cons = speed / 2; - speed_alpha_cons = -speed / 2; + speed_theta_cons = 0; + speed_alpha_cons = -speed; } else if (in & 8) { diff --git a/n/asserv/utils/graph/asserv_graph.cc b/n/asserv/utils/graph/asserv_graph.cc index 068fd72..900276d 100644 --- a/n/asserv/utils/graph/asserv_graph.cc +++ b/n/asserv/utils/graph/asserv_graph.cc @@ -147,7 +147,7 @@ class AsservGraph : public Proto::Receiver << hx << ' ' << hy << ' ' << ((double) ha / 1024) << ' ' << dh << ' ' << cl << ' ' << cr << ' ' - << z0 << ' ' << std::hex << z1 << ' ' << z2 << ' ' << ack << std::endl; + << z0 << ' ' << z1 << ' ' << z2 << ' ' << ack << std::endl; te = ti = ae = ai = 0; tsc = asc = 0; cl = cr = 0; diff --git a/n/asserv/utils/graph/rc/config.avr b/n/asserv/utils/graph/rc/config.avr index a17dc84..c2da1ca 100644 --- a/n/asserv/utils/graph/rc/config.avr +++ b/n/asserv/utils/graph/rc/config.avr @@ -11,8 +11,8 @@ asserv.akd = 0 asserv.esat = 1023 asserv.isat = 3072 -asserv.ta = 1024 -asserv.aa = 2048 +asserv.ta = 512 +asserv.aa = 1024 asserv.tspm = 64 asserv.aspm = 64 asserv.tsps = 8 -- cgit v1.2.3