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values.lua
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H = {}
-- #Line
H.line = {
-- Distance from sensors to wheels
udegrees_dg = 85 + 10,
-- ##Coefficients
-- Accurate line for actions with objects
accurate = {
pf_cf = 0.8,
df_cf = 1,
sf_sd = 20,
ps_cf = 1,
ds_cf = 0,
ss_sd = 10 + 5,
top_pt = 700,
bot_pt = 50,
lx_cf = 0.9,
},
-- Fast line where we moving on long distances
fast = {
pf_cf = 0.6,
df_cf = 55,
sf_sd = 80,
ps_cf = 2.0,
ds_cf = 0,
ss_sd = 20 + 5,
top_pt = 500,
bot_pt = 200,
lx_cf = 0.99,
},
-- Typical line to move around without speed/precision
trans = {
pf_cf = 0.8,
df_cf = 11,
sf_sd = 45,
ps_cf = 1.0,
ds_cf = 10,
ss_sd = 20 + 5,
top_pt = 900,
bot_pt = 100,
lx_cf = 0.9,
},
}
-- #Line detection
H.colors = {
white_pt = 40,
grey_pt = 35,
black_pt = 15,
}
-- #Magic
H.magic = {
-- on = true ,
on = false,
dsc = 95,
rgr = 10,
back_take = true,
}
-- #Router color reading
H.router_bw_limit_pt = 60
-- #Start move
local turn_dg = 110
H.start = {
up_dg = 320,
left_dg = turn_dg,
diag_dg = 90,
right_dg = turn_dg,
}
H.speed = {
degrees_sd = 20,
rotate_sd = 30,
macro_sd = 30,
degrees_sd = 30,
}
-- #Router put
local router_global = 0
local asdf = 0
H.put_router = {
wait_sc = 1,
long_dg = 250 + asdf,
backlongnoride_dg = 10,
r0_dg = 150 + 10 + router_global - asdf,
r1_dg = router_0,
r2_dg = router_0,
r3_dg = router_0,
speed_sd = 50,
}
-- #Router get
H.get_router = {
get_sd = 25,
back_sd = 20,
rotate_sd = 20,
back_dg = 100,
forward_dg = 50 + 50,
put_sd = 30,
}
-- #Wire put
H.put_wire = {
forward_sd = 20,
cubics_sd = 20,
nothing_sd = 40,
line_dg = 410,
forward_dg = 231,
overshoot_dg = 0,
wait_sc = 1,
}
-- #Wire get
H.get_wire = {
forward_dg = 255,
forward_sd = 25,
-- back_sd = 55,
back_sd = 30,
wait_sc = 0,
}
-- #Finish
H.finish = {
rotate_dg = 40 - 5 - 5,
forward_dg = 690,
}
-- #Lift setup
H.lift = {
take_wire = 651,
put_wire = 415,
take_router = 483,
shake_router = 0,
put_router = 210 + 40,
finish = 540,
pre_put = 0,
back_take = 530,
speed = 100,
}
-- #Hand
H.hand_speed = 20