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authorNicolas Schodet2011-05-29 09:38:26 +0200
committerNicolas Schodet2011-05-29 09:57:32 +0200
commit13ad47d0242573e0212c328d38538d17e7e0fb2b (patch)
tree2bf3809d40bb3c3ce770db27dd2ff73930662715 /digital
parent7d4be3876d30ddad9c0a505a67246d0fd95f438e (diff)
digital/asserv: callibrate asserv parameters
Diffstat (limited to 'digital')
-rw-r--r--digital/asserv/tools/asserv/init.py4
-rw-r--r--digital/io-hub/src/robospierre/bot.h2
2 files changed, 3 insertions, 3 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index db33364d..5bbffe7d 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -35,8 +35,8 @@ target_marcel = dict (
w = 0x09,
)
target_robospierre = dict (
- scale = 0.031748977927129413, f = 0x1370,
- c = float (0x01000000) / (1 << 24),
+ scale = 0.0317975134344, f = 0x134e,
+ c = float (0xffa897) / (1 << 24),
tkp = 1, tkd = 16,
ta = 0.75, tsm = 0x60, tss = 0x10,
tbe = 256, tbs = 0x08, tbc = 40,
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
index bd7cc181..890780b3 100644
--- a/digital/io-hub/src/robospierre/bot.h
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -31,7 +31,7 @@
#ifdef HOST
# define BOT_SCALE 0.0395840674352314
#else
-# define BOT_SCALE 0.0415178942124
+# define BOT_SCALE 0.0317975134344
#endif
/** Distance from the robot axis to the front. */