From ab8577a506a83095ab6e68f35bf10fbbe19341b9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 May 2008 04:50:40 +0200 Subject: * digital/asserv/tools, digital/asserv/src/asserv: - lowered max auxiliary PWM. - no longer use integral term. --- digital/asserv/src/asserv/pwm.h | 2 +- digital/asserv/tools/init.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h index 243ea213..a412f254 100644 --- a/digital/asserv/src/asserv/pwm.h +++ b/digital/asserv/src/asserv/pwm.h @@ -38,7 +38,7 @@ extern uint8_t pwm_reverse; #define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x #define PWM_MAX_FOR_pwm_left PWM_MAX #define PWM_MAX_FOR_pwm_right PWM_MAX -#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 2) +#define PWM_MAX_FOR_pwm_aux0 0x11d /** Define minimum PWM value for each output, if the value is less than the * minimum, use 0. */ diff --git a/digital/asserv/tools/init.py b/digital/asserv/tools/init.py index 1c47c923..42c34f5d 100644 --- a/digital/asserv/tools/init.py +++ b/digital/asserv/tools/init.py @@ -11,8 +11,8 @@ target = dict ( scale = 0.0413530725332892, f = 0xcfa, c = float (0xffefbe) / (1 << 24), tkp = 1, tkd = 16, akp = 2, akd = 16, - a0kp = 0.8, a0ki = 0.05, a0kd = 0.05, - E = 0x3ff, D = 0x1ff, I = 0x1fff, + a0kp = 1, a0kd = 0.05, + E = 0x3ff, D = 0x1ff, ta = 0.5, aa = 0.5, tsm = 0x60, tss = 0x20, asm = 0x30, ass = 0x10, a0a = 0.5, a0sm = 0x0a, a0ss = 0x05, ) -- cgit v1.2.3