Keuronde/2026-Propulsion
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Ajustement des gains de localisation (QEI et distance roues)

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Samuel 2026-05-07 19:47:32 +02:00
parent 8e191f52a5
commit a506ece7ce
3 changed files with 4 additions and 4 deletions
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2
Geometrie_robot.h
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@ -2,7 +2,7 @@
#include "config_robot.h" #include "config_robot.h"
#ifdef ROBOT_PROPULSION_2026 #ifdef ROBOT_PROPULSION_2026
#define DISTANCE_ROUES_CENTRE_MM 104. #define DISTANCE_ROUES_CENTRE_MM 98.
#else #else
#define DISTANCE_ROUES_CENTRE_MM 52. #define DISTANCE_ROUES_CENTRE_MM 52.
#endif #endif

2
QEI.c
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@ -20,7 +20,7 @@
#define IMPULSION_PAR_MM_50_1 (12.45f) #define IMPULSION_PAR_MM_50_1 (12.45f)
#define IMPULSION_PAR_MM_30_1 (7.47f) #define IMPULSION_PAR_MM_30_1 (7.47f)
#define IMPULSION_PAR_MM_robot_2026 (7.72f) #define IMPULSION_PAR_MM_robot_2026 (7.57f)
float impulsion_par_mm; float impulsion_par_mm;

4
config_robot.h
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@ -1,7 +1,7 @@
// Changer le define en fonction qu'on soit sur les PAMIs ou sur le robot principal // Changer le define en fonction qu'on soit sur les PAMIs ou sur le robot principal
//#define ROBOT_PROPULSION_2026 #define ROBOT_PROPULSION_2026
#define ROBOT_TYPE_PAMI //#define ROBOT_TYPE_PAMI
#ifndef ROBOT_PROPULSION_2026 #ifndef ROBOT_PROPULSION_2026
#ifndef ROBOT_TYPE_PAMI #ifndef ROBOT_TYPE_PAMI