"""Default parameters for asserv.""" host_marcel = dict ( scale = 0.0395840674352314, footing = 0xdd1, t_kp = 1, t_kd = 16, t_acc = 0.75, t_speed_max = 0x20, t_speed_slow = 0x10, a_kp = 2, a_kd = 16, a_acc = 0.25, a_speed_max = 0x20, a_speed_slow = 0x10, a0_kp = 4, a0_acc = 4, a0_speed_max = 0x60, a0_speed_slow = 0x10, a1_kp = 2, a1_acc = 16, a1_speed_max = 0x46, a1_speed_slow = 0x10, e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) host_robospierre = dict ( scale = 0.0395840674352314, footing = 0xdd1, t_kp = 1, t_kd = 16, t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10, a_kp = 2, a_kd = 16, a_acc = 0.25, a_speed_max = 0x60, a_speed_slow = 0x10, e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) host_guybrush = dict ( aux_nb = 0, scale = 0.0395840674352314, footing = 0xdd1, t_kp = 1, t_kd = 16, t_acc = 0.75, t_speed_max = 0x60, t_speed_slow = 0x10, a_kp = 2, a_kd = 16, a_acc = 0.25, a_speed_max = 0x60, a_speed_slow = 0x10, e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) host = { 'giboulee': host_marcel, 'marcel': host_marcel, 'robospierre': host_robospierre, 'guybrush': host_guybrush, } target_marcel = dict ( scale = 0.0415178942124, footing = 0xcef, encoder_right_correction = float (0x00ffbabf) / (1 << 24), t_kp = 1, t_kd = 16, t_acc = 0.75, t_speed_max = 0x20, t_speed_slow = 0x10, a_kp = 2, a_kd = 16, a_acc = 0.25, a_speed_max = 0x20, a_speed_slow = 0x10, a0_kp = 4, a0_kd = 16, a0_acc = 4, a0_speed_max = 0x60, a0_speed_slow = 0x10, a0_bd_error_limit = 256, a0_bd_speed_limit = 0x04, a0_bd_counter_limit = 10, a1_kp = 2, a1_acc = 16, a1_speed_max = 0x46, a1_speed_slow = 0x10, a1_bd_error_limit = 256, a1_bd_speed_limit = 0x0c, a1_bd_counter_limit = 10, e_sat = 0x3ff, d_sat = 0x1ff, angle_limit = 0x1000, ) target_robospierre = dict ( scale = 0.0317975134344, footing = 0x134e, encoder_right_correction = float (0xffa897) / (1 << 24), 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, a_kp = 2, a_kd = 16, 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, angle_limit = 0x1000, ) target_guybrush = dict ( aux_nb = 0, scale = 0.0317975134344, footing = 0x134e, 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, a_kp = 2, a_kd = 16, 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 = { 'giboulee': target_marcel, 'marcel': target_marcel, 'robospierre': target_robospierre, 'guybrush': target_guybrush, }