ロボット工作研究室Wiki

[Machine]
 wheel_l     = 12.99//12.95
 wheel_r     = 12.99
 tread       = 34
 accel_volt  = 0.12
 angvel_volt = 0.3//0.5
 angacc_volt = 0.05//0.03
 speed_volt  = 0.64
 Gyro        = 1.06
 GyroOffset  = 0//-5
 startPos    = -26

[Control]
 Ku  = 0.5
 Kp  = 0.22//0.17
 Kd  = 0
 Ksl = 0.26//0.3//0.24
 Ks  = 0.15//0.1
 Kpa  = 0.6//0.5
 Kia = 0.05
 Kav = 0.1

[Sensor]
 f_wallths = 145
 f_surelynone = 80
 f_nearths = 350
 f_lcenter = 9999
 f_rcenter = 9999
 s_lcenter = 232
 s_rcenter = 273
 s_danger  = 400
 s_wallths = 160
 s_cutths = 140
 s_cuthys = 50
 s_cutpoint = 52//50//53
 slant_f_lcenter = 200
 slant_f_rcenter = 200
 slant_f_danger = 9999//630//400
 slant_s_cutpoint = 22//20//25//20//23//24//26
 slant_s_peakmin = 320

[Config]
 Maze = 5,8,1,1,6,9
 fMaze = 6,4,1,1,16,16
 fMaze = 22,25,1,1,32,32
 SearchAcc = 2500
 SearchSpd = 800
 MaxAccel = 10000
 DeccelRate = 1
 TrialSpd =  3000
 SlantSpd =  2000
 CircuitSpd = 2000
 LogInterval = 10
 Return = 1
 UseGyro = 1
 GyroDisAngvel = 0//100//80
 AdjustSensor = 1

[systurn]
search  =  250, 847, 56, 36, 22, 23,2,-2
searchf =  250, 847, 56, 36, 22, 23,2,-2
circuit0 = 1300, 652, 33, 94,129,130,23,-29
circuit1 = 1400, 695, 34, 84,132,133,27,-34
circuit2 = 1500, 687, 34, 85,142,143,31,-40

[turn0]
t90  =  350,1145, 57,  7, 25, 26,2,-2
t90f =  500, 687, 45, 74, 50, 51,4,-4
t180 =  500, 630, 43,232, 50, 50
t45  =  500, 630, 43, 18, 27, 20,4,-3
t135 =  400, 859, 57, 85, 73, 52,2,-2

[turn1]
t90  =  600,1241, 49, 11, 39, 40,5,-6
t90f =  750,1069, 42, 31, 52, 53,8,-10
t180 =  800,1002, 52,114, 60, 60,15,-15
t45  =  800, 931, 37,  2, 32, 23,10,-8
t135 =  650,1145, 45, 61, 90, 64,5,-6

[turn3]
t90  =  720,1273, 42, 18, 44, 45,8,-10
t90f =  940,1097, 36, 37, 62, 63,13,-17
t180 =  860,1065, 50,106, 60, 60,15,-17
t45  =  950, 964, 32,  6, 35, 25,15,-11
t135 =  750,1298, 44, 48, 92, 66,6,-9

[turn3]
t90  =  720,1273, 42, 18, 44, 45,8,-10
t90f =  940,1097, 36, 37, 62, 63,13,-17
t180 =  860,1065, 50,106, 60, 60,15,-17
t45  =  950, 964, 32,  6, 35, 25,15,-11
t135 =  750,1298, 44, 48, 92, 66,6,-9


[motion]
type = a
DefTurn = 0

[motion_a]
 0 = A3000S1000T0a16
 1 = A3000S1000T0a6c2a2c2
 2 = A3000S1000T0Ea16
 3 = A3000S1000T0abbbb
 4 = A3000S1000T0Eabbbb
 5 = A3000S1000T0Eabbbbb
 6 = A3000S1000T0Eab7deeeeeee
 7 = A5000S1500T0Eab7deeeeeee

[motion_b]
 0b = A10000S3000T0Ia8
 0 = A3000S700T0Ia8
 1 = A2000S2000T0Iaacceeggaacceeggaa
 2 = A2000S2000T0Iaaggeeccaaggeeccaa
 3 = A2000S2000T1Iaacceeggaacceeggaa
 4 = A4000S2000T1Iaaggeeccaaggeeccaa
 5 = A5000S3000T0aaabb
 6 = A5000S3000T0aaabbaa
 7 = A5000S3000T0aacc

[motion_t]
 0 = A4000S1000Iaacc
 1 = A4000S1000Iaaabccc
 2 = A4000S1000Iaaabdeee
 3 = A4000S1000Iaaabb
 4 = A4000S1000Iaaabdd