LaserNavigation/data.debug at master · savnik/LaserNavigation · GitHub

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Debug file for the robot initialization
---------------------------------------
Thu Jun 26 21:51:07 2014
---------------------------------------

Module : robotinfo
   type      differential     enum number        0
   name      smr

Module : odometry
   cl           0.000102
   cr           0.000102
   w            0.260000
   robotlength  0.265000
   ts           0.010000
   maxtick           130
   control             0
   enctype             0

Module : motion control
   ts           0.010000
   line_gain    0.050000
   line_tau     10.000000
   line_alfa    0.300000
   wall_gain    1.000000
   wall_tau     0.700000
   wall_alfa    0.200000
   gain         1.000000
   tau          0.160000
   alfa         0.200000
   drive_kangle 2.250000
   drive_kdist  4.800000
   w            0.260000
   robotlength  0.265000
   lim          0.200000
   stopdist     0.180000
   alarmdist    0.100000
   velcmd       0.300000
   acccmd       0.300000
   nolinedist   0.200000

Module : motor control
   velscalel    100.000000
   velscaler    100.000000
   kp           66.000000
   ki           10.000000

Module : line sensor
   size                8
   k_filt       0.800000

Module : gpsmouse
   hostname     localhost
   port             9500
   SBAS                0
   run                 1
   use                 1