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-rw-r--r--digital/mimot/tools/mimot/init.py28
1 files changed, 14 insertions, 14 deletions
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index 87e00642..5dbe1a87 100644
--- a/digital/mimot/tools/mimot/init.py
+++ b/digital/mimot/tools/mimot/init.py
@@ -1,21 +1,21 @@
"""Default parameters for asserv."""
target_marcel = dict (
- a0kp = 4,
- a0a = 16, a0sm = 0x60, a0ss = 0x10,
- a0be = 256, a0bs = 0x18, a0bc = 5,
- a1kp = 4,
- a1a = 16, a1sm = 0x60, a1ss = 0x10,
- a1be = 256, a1bs = 0x18, a1bc = 5,
- E = 0x3ff, D = 0x1ff,
+ a0_kp = 4,
+ a0_acc = 16, a0_speed_max = 0x60, a0_speed_slow = 0x10,
+ a0_error_limit = 256, a0_bd_speed_limit = 0x18, a0_bd_counter_limit = 5,
+ a1_kp = 4,
+ a1_acc = 16, a1_speed_max = 0x60, a1_speed_slow = 0x10,
+ a1_error_limit = 256, a1_bd_speed_limit = 0x18, a1_bd_counter_limit = 5,
+ e_sat = 0x3ff, d_sat = 0x1ff,
)
target_robospierre = dict (
- a0kp = 8, a0kd = 1,
- a0a = 2, a0sm = 0x60, a0ss = 0x10,
- a0be = 32, a0bs = 0x08, a0bc = 125,
- a1kp = 4,
- a1a = 0.5, a1sm = 0x30, a1ss = 0x08,
- a1be = 64, a1bs = 0x08, a1bc = 5,
- E = 0x3ff, D = 0x1ff,
+ a0_kp = 8, a0_kd = 1,
+ a0_acc = 2, a0_speed_max = 0x60, a0_speed_slow = 0x10,
+ a0_error_limit = 32, a0_bd_speed_limit = 0x08, a0_bd_counter_limit = 125,
+ a1_kp = 4,
+ a1_acc = 0.5, a1_speed_max = 0x30, a1_speed_slow = 0x08,
+ a1_error_limit = 64, a1_bd_speed_limit = 0x08, a1_bd_counter_limit = 5,
+ e_sat = 0x3ff, d_sat = 0x1ff,
)
target = {
'marcel': target_marcel,