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Diffstat (limited to 'digital/mimot/tools/mimot/init.py')
-rw-r--r--digital/mimot/tools/mimot/init.py12
1 files changed, 6 insertions, 6 deletions
diff --git a/digital/mimot/tools/mimot/init.py b/digital/mimot/tools/mimot/init.py
index 5e839ad2..01511f21 100644
--- a/digital/mimot/tools/mimot/init.py
+++ b/digital/mimot/tools/mimot/init.py
@@ -2,25 +2,25 @@
target_marcel = dict (
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,
+ a0_bd_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,
+ a1_bd_error_limit = 256, a1_bd_speed_limit = 0x18, a1_bd_counter_limit = 5,
e_sat = 0x3ff, d_sat = 0x1ff,
)
target_robospierre = dict (
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,
+ a0_bd_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,
+ a1_bd_error_limit = 64, a1_bd_speed_limit = 0x08, a1_bd_counter_limit = 5,
e_sat = 0x3ff, d_sat = 0x1ff,
)
target_guybrush = dict (
a0_kp = 12, a0_kd = 32,
- a0_acc = 1, a0_speed_max = 0x20, a0_speed_slow = 0x02,
- a0_error_limit = 32, a0_bd_speed_limit = 0x08, a0_bd_counter_limit = 125,
+ a0_acc = 2, a0_speed_max = 0x20, a0_speed_slow = 0x02,
+ a0_bd_error_limit = 22, a0_bd_speed_limit = 0x08, a0_bd_counter_limit = 50,
e_sat = 0x3ff, d_sat = 0x1ff,
)
target = {