[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
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