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data.debug 1.81 KiB
Debug file for the robot initialization
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Sun May 24 22:00:05 2020
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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