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better movements
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
cs.c
diff --git
a/projects/microb2010/mainboard/cs.c
b/projects/microb2010/mainboard/cs.c
index
516f00b
..
9884bcf
100644
(file)
--- a/
projects/microb2010/mainboard/cs.c
+++ b/
projects/microb2010/mainboard/cs.c
@@
-224,7
+224,7
@@
void microb_cs_init(void)
position_init(&mainboard.pos);
position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
position_init(&mainboard.pos);
position_set_physical_params(&mainboard.pos, VIRTUAL_TRACK_MM, DIST_IMP_MM);
position_set_related_robot_system(&mainboard.pos, &mainboard.rs);
- position_set_centrifugal_coef(&mainboard.pos, 0.000016);
+
//
position_set_centrifugal_coef(&mainboard.pos, 0.000016);
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
position_use_ext(&mainboard.pos);
/* TRAJECTORY MANAGER */
@@
-240,8
+240,8
@@
void microb_cs_init(void)
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
/* ---- CS angle */
/* PID */
pid_init(&mainboard.angle.pid);
- pid_set_gains(&mainboard.angle.pid,
500, 10, 7
000);
- pid_set_maximums(&mainboard.angle.pid, 0,
2
0000, 4095);
+ pid_set_gains(&mainboard.angle.pid,
850, 30, 15
000);
+ pid_set_maximums(&mainboard.angle.pid, 0,
1
0000, 4095);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
pid_set_out_shift(&mainboard.angle.pid, 10);
pid_set_derivate_filter(&mainboard.angle.pid, 4);
@@
-266,8
+266,8
@@
void microb_cs_init(void)
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
/* ---- CS distance */
/* PID */
pid_init(&mainboard.distance.pid);
- pid_set_gains(&mainboard.distance.pid,
500, 10, 7
000);
- pid_set_maximums(&mainboard.distance.pid, 0,
2
000, 4095);
+ pid_set_gains(&mainboard.distance.pid,
850, 30, 15
000);
+ pid_set_maximums(&mainboard.distance.pid, 0,
10
000, 4095);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);
pid_set_out_shift(&mainboard.distance.pid, 10);
pid_set_derivate_filter(&mainboard.distance.pid, 6);