From 9db8edadcb71c67526fb34cd5c11a174608e875b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Apr 2008 15:31:37 +0200 Subject: * digital/asserv/tools: - tuned arm PID. --- digital/asserv/tools/step.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) (limited to 'digital/asserv/tools/step.py') diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py index addc1ddd..5b87d5cd 100644 --- a/digital/asserv/tools/step.py +++ b/digital/asserv/tools/step.py @@ -6,14 +6,17 @@ import popen_io import serial import Gnuplot -def step (name, kp, ki, kd, plots): +def step (name, offset, kp, ki, kd, plots, **param): if sys.argv[1] == '!': io = popen_io.PopenIO (sys.argv[2:]) else: io = serial.Serial (sys.argv[1]) - a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}) + p = { name + 'kp': kp, name + 'ki': ki, name + 'kd': kd} + p.update (param) + a = Asserv (io, **p) a.stats (*plots) - a.consign (name, 0x200) + a.consign (name, offset) + #a.speed (name, 16) array = a.get_stats (225) a.close () @@ -21,6 +24,6 @@ def step (name, kp, ki, kd, plots): g ('set data style lines') g.plot (*[array[:, i] for i in xrange (len (plots))]) -step ('t', 1, 0, 16, ('te', 'lw', 'rw')) -#step ('a', 1, 0, 16, ('ae', 'lw', 'rw')) -#step ('a0', 1, 0, 16, ('a0e', 'a0w')) +step ('t', 0x200, 1, 0, 16, ('te', 'lw', 'rw')) +#step ('a', 0x200, 1, 0, 16, ('ae', 'lw', 'rw')) +#step ('a0', 100, 0.8, 0.05, 0.05, ('a0e', 'a0w', 'a0i'), I = 8191) -- cgit v1.2.3