Update of /cvsroot/playerstage/code/player/config
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10817/config
Modified Files:
Tag: release-2-0-patches
erratic.cfg
Log Message:
Index: erratic.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/player/config/erratic.cfg,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** erratic.cfg 9 Jun 2006 01:17:52 -0000 1.1.2.2
--- erratic.cfg 25 Dec 2006 01:14:11 -0000 1.1.2.3
***************
*** 15,19 ****
provides [ "position2d:0"
"power:0"
! "aio:0" ]
# Serial port to use for connecting to robot
--- 15,20 ----
provides [ "position2d:0"
"power:0"
! "aio:0"
! "sonar:0" ]
# Serial port to use for connecting to robot
***************
*** 24,39 ****
# This is also capped by robot's internal hard limits, potentially
lower than
# given here. For Erratic, it's about 2 m/s and 720 deg/s
! max_trans_vel 3
! max_rot_vel 720
# The robot uses these acceleration values to achieve desired velocity.
There
# is a hard minimum acceleration as well as a top one, set by the robot.
! trans_acc 1
! rot_acc 200
# If set, these specify the robot to use another acceleration when
target
# velocity is zero.
! # trans_decel 3
! # rot_decel 300
# Parameters for the PD control loop onboard the robot. When in
individual
--- 25,40 ----
# This is also capped by robot's internal hard limits, potentially
lower than
# given here. For Erratic, it's about 2 m/s and 720 deg/s
! max_trans_vel 0.5
! max_rot_vel 200
# The robot uses these acceleration values to achieve desired velocity.
There
# is a hard minimum acceleration as well as a top one, set by the robot.
! trans_acc 0.5
! rot_acc 100
# If set, these specify the robot to use another acceleration when
target
# velocity is zero.
! # trans_decel 0.5
! # rot_decel 100
# Parameters for the PD control loop onboard the robot. When in
individual
***************
*** 49,53 ****
# These set how to drive the wheel motors. Frequency affects noise, and
# perhaps power efficiency.
! motor_pwm_frequency 10000
motor_pwm_max_on 0.7
--- 50,54 ----
# These set how to drive the wheel motors. Frequency affects noise, and
# perhaps power efficiency.
! motor_pwm_frequency 16000
motor_pwm_max_on 0.7
-------------------------------------------------------------------------
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