1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88

"""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,
'apbirthday': 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,
}
