From 52de9864646b18b364fea06561bfe283f835f217 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 28 Mar 2012 19:34:17 +0200 Subject: digital/asserv, digital/mimot: use human readable parameters --- digital/mimot/tools/mimot/init.py | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) (limited to 'digital/mimot/tools/mimot/init.py') 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, -- cgit v1.2.3