summaryrefslogtreecommitdiff
path: root/digital
diff options
context:
space:
mode:
authorNicolas Schodet2010-05-04 02:25:38 +0200
committerNicolas Schodet2010-05-04 02:25:38 +0200
commit00a1e18f9f6e713afc5da6c139ae310943ee754e (patch)
treeb5008f6d34deedf4b178928fc928e0e361ccbb4c /digital
parentc0a9e3ae09c193bf9655117fa9ad494e5b3d7f8d (diff)
digital/{io,mimot}: shift once for clamp motors
Diffstat (limited to 'digital')
-rw-r--r--digital/io/src/bot.h6
-rw-r--r--digital/io/tools/test_simu_control.py2
-rw-r--r--digital/mimot/src/dirty/counter_ext.avr.c4
-rw-r--r--digital/mimot/src/dirty/models.host.c2
-rw-r--r--digital/mimot/tools/mimot/init.py8
5 files changed, 11 insertions, 11 deletions
diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h
index e5f280bd..4e058dcc 100644
--- a/digital/io/src/bot.h
+++ b/digital/io/src/bot.h
@@ -78,16 +78,16 @@
#define BOT_ELEVATOR_ZERO_SPEED 0x10
/** Clamp stroke in steps. */
-#define BOT_CLAMP_STROKE_STEP 5627
+#define BOT_CLAMP_STROKE_STEP 2813
/** Clamp open position in steps. */
-#define BOT_CLAMP_OPEN_STEP 30
+#define BOT_CLAMP_OPEN_STEP 15
/** Clamp work speed. */
#define BOT_CLAMP_SPEED 0x60
/** Clamp find zero speed. */
-#define BOT_CLAMP_ZERO_SPEED 0x20
+#define BOT_CLAMP_ZERO_SPEED 0x10
/**
* Definition of the colors.
diff --git a/digital/io/tools/test_simu_control.py b/digital/io/tools/test_simu_control.py
index 3ff87fdd..64c856aa 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 = 3441
+ pos = 1720
else:
pos = 0
self.mimot.goto_pos ('a0', pos)
diff --git a/digital/mimot/src/dirty/counter_ext.avr.c b/digital/mimot/src/dirty/counter_ext.avr.c
index 0570ab63..19805d39 100644
--- a/digital/mimot/src/dirty/counter_ext.avr.c
+++ b/digital/mimot/src/dirty/counter_ext.avr.c
@@ -46,9 +46,9 @@
#define COUNTER_AUX1_REVERSE 0
/** First auxiliary counter shift. */
-#define COUNTER_AUX0_SHIFT 0
+#define COUNTER_AUX0_SHIFT 1
/** Second auxiliary counter shift. */
-#define COUNTER_AUX1_SHIFT 0
+#define COUNTER_AUX1_SHIFT 1
/** Define to 1 to use the AVR External Memory system, or 0 to use hand made
* signals. */
diff --git a/digital/mimot/src/dirty/models.host.c b/digital/mimot/src/dirty/models.host.c
index fe1761c3..efea35bc 100644
--- a/digital/mimot/src/dirty/models.host.c
+++ b/digital/mimot/src/dirty/models.host.c
@@ -58,7 +58,7 @@ static const struct robot_t marcel_robot =
/** Auxiliary motors, NULL if not present. */
{ &marcel_clamp_f2342_model, &marcel_clamp_f2342_model },
/** Number of steps for each auxiliary motor encoder. */
- { 512, 512 },
+ { 256, 256 },
/** Sensor update function. */
simu_sensor_update_marcel,
};
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index a956ea94..5b62f913 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 = 16, a0sm = 0x60, a0ss = 0x20,
+ a0a = 16, a0sm = 0x60, a0ss = 0x10,
a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x20,
+ a1a = 16, a1sm = 0x60, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
)
target = dict (
a0kp = 4,
- a0a = 16, a0sm = 0x60, a0ss = 0x20,
+ a0a = 16, a0sm = 0x60, a0ss = 0x10,
a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x20,
+ a1a = 16, a1sm = 0x60, a1ss = 0x10,
E = 0x3ff, D = 0x1ff,
w = 0x03,
)