From 5ee74a45a0721c5cb6094f13dbaa1d021293591e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 13 May 2012 12:46:10 +0200 Subject: digital/asserv, digital/mimot: set asserv parameters --- digital/asserv/tools/asserv/init.py | 3 ++- digital/mimot/src/asserv/avrconfig.h | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) (limited to 'digital') diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 6aa54faa..d28c1b32 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -68,7 +68,7 @@ target_robospierre = dict ( target_guybrush = dict ( aux_nb = 0, scale = 0.0317975134344, footing = 0x134e, - encoder_right_correction = float (0xffa897) / (1 << 24), + encoder_right_correction = 0.99861627695742, t_kp = 1, t_kd = 16, t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10, t_bd_error_limit = 256, t_bd_speed_limit = 0x08, t_bd_counter_limit = 40, @@ -76,6 +76,7 @@ target_guybrush = dict ( a_acc = 0.5, a_speed_max = 0x60, a_speed_slow = 0x10, a_bd_error_limit = 128, a_bd_speed_limit = 0x08, a_bd_counter_limit = 40, e_sat = 0x3ff, d_sat = 0x1ff, + r_reverse = True, angle_limit = 0x1000, ) target = { diff --git a/digital/mimot/src/asserv/avrconfig.h b/digital/mimot/src/asserv/avrconfig.h index f6c13b83..95de2f0d 100644 --- a/digital/mimot/src/asserv/avrconfig.h +++ b/digital/mimot/src/asserv/avrconfig.h @@ -133,7 +133,7 @@ /** If not using XMEM, read enable IO, valid low. */ #define AC_ENCODER_EXT_RD_IO D, 6 /** Reverse flag for each encoder (1 to reverse direction). */ -#define AC_ENCODER_EXT_REVERSE 0, 0 +#define AC_ENCODER_EXT_REVERSE 1, 0 /** Right shift for all encoders to lower resolution. */ #define AC_ENCODER_EXT_SHIFT 1 /** For debug purpose only! */ -- cgit v1.2.3