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authorNicolas Schodet2010-05-04 02:25:11 +0200
committerNicolas Schodet2010-05-04 02:25:11 +0200
commitfd9ce0cc3d9b24ec7661876d2a72c37a808b9eab (patch)
treed6145290a4022fee5575ab03bb83a2d8573bfd1f
parent8bb3210e139183c36984427926bbf0061dc5e6dd (diff)
digital, host/simu: update hardware values
-rw-r--r--digital/asserv/src/asserv/models.host.c4
-rw-r--r--digital/asserv/tools/asserv/init.py6
-rw-r--r--digital/io/src/bot.h10
-rw-r--r--digital/io/tools/test_simu_control.py4
-rw-r--r--digital/mimot/tools/mimot/init.py10
-rw-r--r--host/simu/robots/marcel/model/loader.py12
6 files changed, 23 insertions, 23 deletions
diff --git a/digital/asserv/src/asserv/models.host.c b/digital/asserv/src/asserv/models.host.c
index cba0d458..9c16539a 100644
--- a/digital/asserv/src/asserv/models.host.c
+++ b/digital/asserv/src/asserv/models.host.c
@@ -283,7 +283,7 @@ static const struct motor_def_t marcel_elevator_model =
9.7, /* Gearbox ratio. */
0.80, /* Gearbox efficiency. */
/* Load characteristics. */
- 1.0 * 0.01 * 0.01, /* Load (kg.m^2). */
+ 1.0 * 0.01115 * 0.01115,/* Load (kg.m^2). */
/* This is a pifometric estimation. */
/* Hardware limits. */
0.0, +INFINITY,
@@ -313,7 +313,7 @@ static const struct robot_t marcel_robot =
/** Auxiliary motors, NULL if not present. */
{ &marcel_elevator_model, NULL },
/** Number of steps for each auxiliary motor encoder. */
- { 512, 0 },
+ { 256, 0 },
/** Sensor update function. */
simu_sensor_update_marcel,
};
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 4a702606..4657315a 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -6,7 +6,7 @@ host = dict (
akp = 2, akd = 16,
aa = 0.25, asm = 0x20, ass = 0x10,
a0kp = 4,
- a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
+ a0a = 4, a0sm = 0x60, a0ss = 0x10,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
@@ -20,12 +20,12 @@ target = dict (
akp = 2, akd = 16,
aa = 0.25, asm = 0x20, ass = 0x10,
a0kp = 4,
- a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
+ a0a = 4, a0sm = 0x60, a0ss = 0x10,
a0be = 256, a0bs = 0x04, a0bc = 10,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
a1be = 256, a1bs = 0x0c, a1bc = 10,
E = 0x3ff, D = 0x1ff,
l = 0x1000,
- w = 0x08,
+ w = 0x00,
)
diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h
index 634d68e7..aa889970 100644
--- a/digital/io/src/bot.h
+++ b/digital/io/src/bot.h
@@ -60,22 +60,22 @@
#define BOT_MIN_DISTANCE_TURN_FREE 300
/** Elevator stroke in steps. */
-#define BOT_ELEVATOR_STROKE_STEP 11800
+#define BOT_ELEVATOR_STROKE_STEP 7089
/** Elevator work speed. */
-#define BOT_ELEVATOR_SPEED 0x40
+#define BOT_ELEVATOR_SPEED 0x60
/** Elevator find zero speed. */
#define BOT_ELEVATOR_ZERO_SPEED 0x10
/** Clamp stroke in steps. */
-#define BOT_CLAMP_STROKE_STEP 13500
+#define BOT_CLAMP_STROKE_STEP 5627
/** Clamp work speed. */
-#define BOT_CLAMP_SPEED 0x40
+#define BOT_CLAMP_SPEED 0x60
/** Clamp find zero speed. */
-#define BOT_CLAMP_ZERO_SPEED 0x10
+#define BOT_CLAMP_ZERO_SPEED 0x20
/**
* Definition of the colors.
diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
index 61d0f8df..3ff87fdd 100644
--- a/digital/io/tools/test_simu_control.py
+++ b/digital/io/tools/test_simu_control.py
@@ -62,7 +62,7 @@ class TestSimuControl (TestSimu):
def clamp_command (self):
if self.clamp_var.get ():
- pos = 6000
+ pos = 3441
else:
pos = 0
self.mimot.goto_pos ('a0', pos)
@@ -70,7 +70,7 @@ class TestSimuControl (TestSimu):
def elevator_command (self):
if self.elevator_var.get ():
- pos = 11800
+ pos = 7089
else:
pos = 0
self.asserv.goto_pos ('a0', pos)
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index 57c7fc23..a956ea94 100644
--- a/digital/mimot/tools/mimot/init.py
+++ b/digital/mimot/tools/mimot/init.py
@@ -1,16 +1,16 @@
"""Default parameters for asserv."""
host = dict (
a0kp = 4,
- a0a = 0.5, a0sm = 0x0a, a0ss = 0x05,
+ a0a = 16, a0sm = 0x60, a0ss = 0x20,
a1kp = 4,
- a1a = 0.5, a1sm = 0x0a, a1ss = 0x05,
+ a1a = 16, a1sm = 0x60, a1ss = 0x20,
E = 0x3ff, D = 0x1ff,
)
target = dict (
a0kp = 4,
- a0a = 0.5, a0sm = 0x0a, a0ss = 0x05,
+ a0a = 16, a0sm = 0x60, a0ss = 0x20,
a1kp = 4,
- a1a = 0.5, a1sm = 0x0a, a1ss = 0x05,
+ a1a = 16, a1sm = 0x60, a1ss = 0x20,
E = 0x3ff, D = 0x1ff,
- w = 0x00,
+ w = 0x03,
)
diff --git a/host/simu/robots/marcel/model/loader.py b/host/simu/robots/marcel/model/loader.py
index 00741808..8968a968 100644
--- a/host/simu/robots/marcel/model/loader.py
+++ b/host/simu/robots/marcel/model/loader.py
@@ -28,13 +28,13 @@ from math import pi
class Loader (Observable):
- CLAMP_PULLEY_RADIUS = 5.5
- CLAMP_WIDTH = 250
- CLAMP_LENGTH = 100
+ CLAMP_PULLEY_RADIUS = 6.5
+ CLAMP_WIDTH = 198
+ CLAMP_LENGTH = 75
- ELEVATOR_PULLEY_RADIUS = 10
- ELEVATOR_LINEAR_STROKE = 50
- ELEVATOR_ROTATING_STROKE = 100
+ ELEVATOR_PULLEY_RADIUS = 11.15
+ ELEVATOR_LINEAR_STROKE = 32
+ ELEVATOR_ROTATING_STROKE = 200 - 32
FRONT_ZONE_X_MIN = 120 + 15
FRONT_ZONE_X_MAX = 120 + CLAMP_LENGTH - 15