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authorNicolas Schodet2008-05-01 04:50:40 +0200
committerNicolas Schodet2008-05-01 04:50:40 +0200
commitab8577a506a83095ab6e68f35bf10fbbe19341b9 (patch)
treed9617c74a7faa2ceadcc6dec2c5555078b0a180d /digital
parentd2fa639892a31069475e1303c42fc6ef2ecc650c (diff)
* digital/asserv/tools, digital/asserv/src/asserv:
- lowered max auxiliary PWM. - no longer use integral term.
Diffstat (limited to 'digital')
-rw-r--r--digital/asserv/src/asserv/pwm.h2
-rw-r--r--digital/asserv/tools/init.py4
2 files changed, 3 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h
index 243ea213..a412f254 100644
--- a/digital/asserv/src/asserv/pwm.h
+++ b/digital/asserv/src/asserv/pwm.h
@@ -38,7 +38,7 @@ 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 0x11d
/** Define minimum PWM value for each output, if the value is less than the
* minimum, use 0. */
diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py
index 1c47c923..42c34f5d 100644
--- a/digital/asserv/tools/init.py
+++ b/digital/asserv/tools/init.py
@@ -11,8 +11,8 @@ target = dict (
scale = 0.0413530725332892, f = 0xcfa,
c = float (0xffefbe) / (1 << 24),
tkp = 1, tkd = 16, akp = 2, akd = 16,
- a0kp = 0.8, a0ki = 0.05, a0kd = 0.05,
- E = 0x3ff, D = 0x1ff, I = 0x1fff,
+ a0kp = 1, a0kd = 0.05,
+ E = 0x3ff, D = 0x1ff,
ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x20, asm = 0x30, ass = 0x10,
a0a = 0.5, a0sm = 0x0a, a0ss = 0x05,
)