summaryrefslogtreecommitdiff
path: root/digital/asserv
diff options
context:
space:
mode:
authorNicolas Schodet2009-05-17 21:05:19 +0200
committerNicolas Schodet2009-05-17 21:05:19 +0200
commiteae163966957cb4ef7b864fd8469775040996781 (patch)
treed75d0a57213df2862302cc21c46be23f52a85f75 /digital/asserv
parent8696361e30856033b76b5b7196cc754042abfd20 (diff)
* digital/asserv:
- reversed aux1. - limit aux0 to 6v. - lowered aux0 speed.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/counter_ext.avr.c2
-rw-r--r--digital/asserv/src/asserv/main.c2
-rw-r--r--digital/asserv/src/asserv/pwm.h2
-rw-r--r--digital/asserv/tools/asserv/init.py6
4 files changed, 6 insertions, 6 deletions
diff --git a/digital/asserv/src/asserv/counter_ext.avr.c b/digital/asserv/src/asserv/counter_ext.avr.c
index 43bf91fc..61ee6911 100644
--- a/digital/asserv/src/asserv/counter_ext.avr.c
+++ b/digital/asserv/src/asserv/counter_ext.avr.c
@@ -53,7 +53,7 @@
/** Define to 1 to reverse the first auxiliary counter. */
#define COUNTER_AUX0_REVERSE 1
/** Define to 1 to reverse the second auxiliary counter. */
-#define COUNTER_AUX1_REVERSE 1
+#define COUNTER_AUX1_REVERSE 0
/** Define to 1 to use the AVR External Memory system, or 0 to use hand made
* signals. */
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index f0b7e5b3..b34ed364 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -661,7 +661,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
case c ('w', 2):
/* Set PWM direction.
- * - b: bits: 000[aux1][aux0][right][left]. */
+ * - b: bits: 0000[aux1][aux0][right][left]. */
pwm_set_reverse (args[1]);
break;
case c ('E', 2):
diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h
index 4e3f9134..a94c4ff4 100644
--- a/digital/asserv/src/asserv/pwm.h
+++ b/digital/asserv/src/asserv/pwm.h
@@ -58,7 +58,7 @@ extern uint8_t pwm_reverse;
#define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x
#define PWM_MAX_FOR_pwm_left PWM_MAX
#define PWM_MAX_FOR_pwm_right PWM_MAX
-#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 2)
+#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 4)
#define PWM_MAX_FOR_pwm_aux1 (PWM_MAX / 2)
/** Define minimum PWM value for each output, if the value is less than the
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 136810f4..537e591b 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 = 0.5, asm = 0x60, ass = 0x20,
a0kp = 4,
- a0a = 0.5, a0sm = 0x18, a0ss = 0x08,
+ a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
@@ -19,9 +19,9 @@ target = dict (
akp = 2, akd = 16,
aa = 0.5, asm = 0x60, ass = 0x20,
a0kp = 4,
- a0a = 0.5, a0sm = 0x18, a0ss = 0x08,
+ a0a = 0.5, a0sm = 0x0c, a0ss = 0x05,
a1kp = 2,
a1a = 16, a1sm = 0x46, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
- w = 0x40,
+ w = 0x08,
)