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data.debug

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    data.debug 1.81 KiB
    Debug file for the robot initialization
    ---------------------------------------
    Sun May 24 22:00:05 2020
    ---------------------------------------
    
    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          1000
       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       0.750000
    
    Module : filter
       measurementnoise_std_x           0.100000
       measurementnoise_std_y           0.110000
       processnoise_std_stearingangle   0.010000
       processnoise_std_dist            0.020000
       type                  EKF
       run                          1
       use                          0
       size_input                   2
       size_state                   3
       size_noise_process           2
       size_output                  2
       size_noise_output            2
       gpsoffset_easting     0.000000
       gpsoffset_northing    0.000000
    
    Module : gpsmouse
       hostname     localhost
       port             9500
       SBAS                0
       run                 1
       use                 1