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Tools: arduroller balance bot param update

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This commit is contained in:
Randy Mackay 2022-06-14 20:25:08 +09:00
parent 0697ce19d2
commit e0ce8035b9
1 changed files with 25 additions and 21 deletions
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46
Tools/Frame_params/ArduRoller-balancebot.param
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@ -1,19 +1,19 @@
#NOTE: ArduRoller balance bot parameters for Rover-3.5 and higher #NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher
ACRO_TURN_RATE,90 ACRO_TURN_RATE,90
AHRS_ORIENTATION,29 AHRS_ORIENTATION,29
ATC_ACCEL_MAX,1 ATC_ACCEL_MAX,5
ATC_BAL_D,0.01 ATC_BAL_D,0.18
ATC_BAL_FF,0 ATC_BAL_FF,0
ATC_BAL_FLTD,0
ATC_BAL_FILT,0 ATC_BAL_FILT,0
ATC_BAL_FLTE,0 ATC_BAL_FLTE,0
ATC_BAL_I,7 ATC_BAL_I,7
ATC_BAL_IMAX,1 ATC_BAL_IMAX,1
ATC_BAL_P,1.2 ATC_BAL_P,5
ATC_BAL_SPD_FF,1.1 ATC_BAL_SPD_FF,1.0
ATC_BRAKE,1 ATC_BRAKE,1
ATC_STR_ACC_MAX,180 ATC_STR_ACC_MAX,120
BAL_PITCH_MAX,10 BAL_PITCH_MAX,10
BRD_PWM_COUNT,0
CRASH_ANGLE,45 CRASH_ANGLE,45
CRUISE_SPEED,0.4 CRUISE_SPEED,0.4
CRUISE_THROTTLE,50 CRUISE_THROTTLE,50
@ -36,33 +36,37 @@ SERVO3_MAX,2000
SERVO3_MIN,1000 SERVO3_MIN,1000
SERVO3_REVERSED,1 SERVO3_REVERSED,1
SERVO3_TRIM,1500 SERVO3_TRIM,1500
SERVO11_FUNCTION,-1
SERVO12_FUNCTION,-1
SERVO13_FUNCTION,-1
SERVO14_FUNCTION,-1
ATC_TURN_MAX_G,0.2 ATC_TURN_MAX_G,0.2
WENC_CPR,3200 WENC_CPR,1600
WENC_PINA,55 WENC_PINA,55
WENC_PINB,54 WENC_PINB,54
WENC_POS_X,0 WENC_POS_X,0
WENC_POS_Y,-0.1 WENC_POS_Y,-0.1
WENC_POS_Z,0 WENC_POS_Z,0
WENC_RADIUS,0.05 WENC_RADIUS,0.06
WENC_TYPE,1 WENC_TYPE,1
WENC2_CPR,3200 WENC2_CPR,1600
WENC2_PINA,53 WENC2_PINA,53
WENC2_PINB,52 WENC2_PINB,52
WENC2_POS_X,0 WENC2_POS_X,0
WENC2_POS_Y,0.1 WENC2_POS_Y,0.1
WENC2_POS_Z,0 WENC2_POS_Z,0
WENC2_RADIUS,0.05 WENC2_RADIUS,0.06
WENC2_TYPE,1 WENC2_TYPE,1
WRC_RATE_D,0.01 WRC_RATE_D,0.2
WRC_RATE_FF,8 WRC_RATE_FF,4.2
WRC_RATE_FILT,50 WRC_RATE_FLTD,50
WRC_RATE_I,2 WRC_RATE_I,4
WRC_RATE_IMAX,1 WRC_RATE_IMAX,1
WRC_RATE_MAX,12 WRC_RATE_MAX,12
WRC_RATE_P,2 WRC_RATE_P,0
WRC2_RATE_D,0.01 WRC2_RATE_D,0.2
WRC2_RATE_FF,8 WRC2_RATE_FF,4.2
WRC2_RATE_FILT,50 WRC2_RATE_FLTD,50
WRC2_RATE_I,2 WRC2_RATE_I,4
WRC2_RATE_IMAX,1 WRC2_RATE_IMAX,1
WRC2_RATE_P,2 WRC2_RATE_P,0