PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.cpp

Revision:
31:e48d21e28023
Parent:
30:4e7cf52ac2dd
Child:
33:67e5482f83dd
--- a/MX12.cpp	Fri Feb 04 09:22:50 2022 +0000
+++ b/MX12.cpp	Fri Mar 11 11:01:20 2022 +0000
@@ -408,15 +408,15 @@
     W1=0;
     W2=0;
     W3=0;
-    a1 = 4.74 ;
-    a2 = 0.5;
-    a3 = 2.64;
-    x1 = -0.0024;
-    x2 = 0.0625;
-    x3 = -0.0643;
-    y1 = -0.073;
-    y2 = 0.0361;
-    y3 = 0.037;
+    a1 = 3.74 ;
+    a2 = 1.57;
+    a3 = 5.86;
+    x1 = -6.87;
+    x2 = -0.58;
+    x3 = 7.78;
+    y1 = -5.09;
+    y2 = 8.22;
+    y3 = -4.2;
     //Vtm_smax=0.8; //sert pour calculer valeurs -999->999
     //Vnm_smax=0.9;
     //Wcrd_smax=2.9;