Tools/Frame_params/ArduRoller-balancebot.param

   1 #NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher\r
   2 ACRO_TURN_RATE,90\r
   3 AHRS_ORIENTATION,29\r
   4 ATC_ACCEL_MAX,5\r
   5 ATC_BAL_D,0.18\r
   6 ATC_BAL_FF,0\r
   7 ATC_BAL_FLTD,0\r
   8 ATC_BAL_FILT,0\r
   9 ATC_BAL_FLTE,0\r
  10 ATC_BAL_I,7\r
  11 ATC_BAL_IMAX,1\r
  12 ATC_BAL_P,5\r
  13 ATC_BRAKE,1\r
  14 ATC_STR_ACC_MAX,120\r
  15 BAL_PITCH_MAX,10\r
  16 CRASH_ANGLE,45\r
  17 CRUISE_SPEED,0.4\r
  18 CRUISE_THROTTLE,50\r
  19 FRAME_CLASS,3\r
  20 FS_CRASH_CHECK,1\r
  21 MOT_PWM_TYPE,0\r
  22 MOT_SLEWRATE,0\r
  23 MOT_THR_MIN,6\r
  24 MOT_THST_EXPO,-0.5\r
  25 RELAY_PIN,-1\r
  26 RELAY_PIN2,-1\r
  27 SCHED_LOOP_RATE,200\r
  28 SERVO1_FUNCTION,73\r
  29 SERVO1_MAX,2000\r
  30 SERVO1_MIN,1000\r
  31 SERVO1_REVERSED,0\r
  32 SERVO1_TRIM,1500\r
  33 SERVO3_FUNCTION,74\r
  34 SERVO3_MAX,2000\r
  35 SERVO3_MIN,1000\r
  36 SERVO3_REVERSED,1\r
  37 SERVO3_TRIM,1500\r
  38 SERVO11_FUNCTION,-1\r
  39 SERVO12_FUNCTION,-1\r
  40 SERVO13_FUNCTION,-1\r
  41 SERVO14_FUNCTION,-1\r
  42 ATC_TURN_MAX_G,0.2\r
  43 WENC_CPR,1600\r
  44 WENC_PINA,55\r
  45 WENC_PINB,54\r
  46 WENC_POS_X,0\r
  47 WENC_POS_Y,-0.1\r
  48 WENC_POS_Z,0\r
  49 WENC_RADIUS,0.06\r
  50 WENC_TYPE,1\r
  51 WENC2_CPR,1600\r
  52 WENC2_PINA,53\r
  53 WENC2_PINB,52\r
  54 WENC2_POS_X,0\r
  55 WENC2_POS_Y,0.1\r
  56 WENC2_POS_Z,0\r
  57 WENC2_RADIUS,0.06\r
  58 WENC2_TYPE,1\r
  59 WRC_RATE_D,0.2\r
  60 WRC_RATE_FF,4.2\r
  61 WRC_RATE_FLTD,50\r
  62 WRC_RATE_I,4\r
  63 WRC_RATE_IMAX,1\r
  64 WRC_RATE_MAX,12\r
  65 WRC_RATE_P,0\r
  66 WRC2_RATE_D,0.2\r
  67 WRC2_RATE_FF,4.2\r
  68 WRC2_RATE_FLTD,50\r
  69 WRC2_RATE_I,4\r
  70 WRC2_RATE_IMAX,1\r
  71 WRC2_RATE_P,0\r