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-rw-r--r--digital/asserv/tools/asserv/init.py86
1 files changed, 42 insertions, 44 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index c845af03..5b852d71 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -1,25 +1,25 @@
"""Default parameters for asserv."""
host_marcel = dict (
- scale = 0.0395840674352314, f = 0xdd1,
- tkp = 1, tkd = 16,
- ta = 0.75, tsm = 0x20, tss = 0x10,
- akp = 2, akd = 16,
- aa = 0.25, asm = 0x20, ass = 0x10,
- a0kp = 4,
- a0a = 4, a0sm = 0x60, a0ss = 0x10,
- a1kp = 2,
- a1a = 16, a1sm = 0x46, a1ss = 0x10,
- E = 0x3ff, D = 0x1ff,
- l = 0x1000,
+ scale = 0.0395840674352314, footing = 0xdd1,
+ t_kp = 1, t_kd = 16,
+ t_acc = 0.75, t_speed_max = 0x20, t_speed_slow = 0x10,
+ a_kp = 2, a_kd = 16,
+ a_acc = 0.25, a_speed_max = 0x20, a_speed_slow = 0x10,
+ a0_kp = 4,
+ a0_acc = 4, a0_speed_max = 0x60, a0_speed_slow = 0x10,
+ a1_kp = 2,
+ a1_acc = 16, a1_speed_max = 0x46, a1_speed_slow = 0x10,
+ e_sat = 0x3ff, d_sat = 0x1ff,
+ angle_limit = 0x1000,
)
host_robospierre = dict (
- scale = 0.0395840674352314, f = 0xdd1,
- tkp = 1, tkd = 16,
- ta = 0.75, tsm = 0x60, tss = 0x10,
- akp = 2, akd = 16,
- aa = 0.25, asm = 0x60, ass = 0x10,
- E = 0x3ff, D = 0x1ff,
- l = 0x1000,
+ scale = 0.0395840674352314, footing = 0xdd1,
+ t_kp = 1, t_kd = 16,
+ t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10,
+ a_kp = 2, a_kd = 16,
+ a_acc = 0.25, a_speed_max = 0x60, a_speed_slow = 0x10,
+ e_sat = 0x3ff, d_sat = 0x1ff,
+ angle_limit = 0x1000,
)
host = {
'giboulee': host_marcel,
@@ -27,34 +27,32 @@ host = {
'robospierre': host_robospierre,
}
target_marcel = dict (
- scale = 0.0415178942124, f = 0xcef,
- c = float (0x00ffbabf) / (1 << 24),
- tkp = 1, tkd = 16,
- ta = 0.75, tsm = 0x20, tss = 0x10,
- akp = 2, akd = 16,
- aa = 0.25, asm = 0x20, ass = 0x10,
- a0kp = 4, a0kd = 16,
- 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 = 0x09,
+ scale = 0.0415178942124, footing = 0xcef,
+ encoder_right_correction = float (0x00ffbabf) / (1 << 24),
+ t_kp = 1, t_kd = 16,
+ t_acc = 0.75, t_speed_max = 0x20, t_speed_slow = 0x10,
+ a_kp = 2, a_kd = 16,
+ a_acc = 0.25, a_speed_max = 0x20, a_speed_slow = 0x10,
+ a0_kp = 4, a0_kd = 16,
+ a0_acc = 4, a0_speed_max = 0x60, a0_speed_slow = 0x10,
+ a0_bd_error_limit = 256, a0_bd_speed_limit = 0x04, a0_bd_counter_limit = 10,
+ a1_kp = 2,
+ a1_acc = 16, a1_speed_max = 0x46, a1_speed_slow = 0x10,
+ a1_bd_error_limit = 256, a1_bd_speed_limit = 0x0c, a1_bd_counter_limit = 10,
+ e_sat = 0x3ff, d_sat = 0x1ff,
+ angle_limit = 0x1000,
)
target_robospierre = dict (
- 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,
- akp = 2, akd = 16,
- aa = 0.5, asm = 0x60, ass = 0x10,
- abe = 128, abs = 0x08, abc = 40,
- E = 0x3ff, D = 0x1ff,
- l = 0x1000,
- w = 0x00,
+ scale = 0.0317975134344, footing = 0x134e,
+ encoder_right_correction = float (0xffa897) / (1 << 24),
+ t_kp = 1, t_kd = 16,
+ t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10,
+ t_bd_error_limit = 256, t_bd_speed_limit = 0x08, t_bd_counter_limit = 40,
+ a_kp = 2, a_kd = 16,
+ a_acc = 0.5, a_speed_max = 0x60, a_speed_slow = 0x10,
+ a_bd_error_limit = 128, a_bd_speed_limit = 0x08, a_bd_counter_limit = 40,
+ e_sat = 0x3ff, d_sat = 0x1ff,
+ angle_limit = 0x1000,
)
target = {
'giboulee': target_marcel,