source: flair-src/trunk/demos/CircleFollower/simulator/build_arm/bin/reglages.xml@ 21

Last change on this file since 21 was 21, checked in by Sanahuja Guillaume, 9 years ago

CircleFollower
File size: 7.9 KB
Line 
1<!DOCTYPE remote_ui_xml>
2<root name="interface">
3 <Tab name="simu">
4 <TabWidget name="simu">
5 <Tab name="Reglages">
6 <DoubleSpinBox value="0.001" name="Tech (s):"/>
7 <DoubleSpinBox value="1" name="masse (kg):"/>
8 <DoubleSpinBox value="0.2" name="bras (m):"/>
9 <DoubleSpinBox value="0.05" name="k_driver:"/>
10 <DoubleSpinBox value="0.001" name="k_mot:"/>
11 <DoubleSpinBox value="0.01" name="c_mot:"/>
12 <DoubleSpinBox value="0.05" name="f_air_vert:"/>
13 <DoubleSpinBox value="0.5" name="f_air_lat:"/>
14 <DoubleSpinBox value="0.006" name="j_roll:"/>
15 <DoubleSpinBox value="0.006" name="j_pitch:"/>
16 <PushButton value="0" name="reset"/>
17 </Tab>
18 </TabWidget>
19 </Tab>
20 <Tab name="x4">
21 <PushButton value="0" name="kill"/>
22 <PushButton value="0" name="start_log"/>
23 <PushButton value="0" name="stop_log"/>
24 <PushButton value="0" name="take_off"/>
25 <PushButton value="0" name="landing"/>
26 </Tab>
27 <Tab name="SRF08">
28 <TabWidget name="SRF08">
29 <Tab name="Reglages">
30 <GroupBox name="SRF08">
31 <SpinBox value="8" name="gain:"/>
32 <SpinBox value="46" name="range:"/>
33 </GroupBox>
34 <GridLayout name="setup">
35 <GroupBox name="Passe bas">
36 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
37 <DoubleSpinBox value="1" name="fc (Hz):"/>
38 </GroupBox>
39 <GroupBox name="Passe bas v">
40 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
41 <DoubleSpinBox value="1" name="fc (Hz):"/>
42 </GroupBox>
43 <GroupBox name="Vz">
44 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
45 </GroupBox>
46 <GroupBox name="alt cons">
47 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
48 <DoubleSpinBox value="0.4" name="velocity max (absolute):"/>
49 <DoubleSpinBox value="0.2" name="acceleration (absolute):"/>
50 </GroupBox>
51 <GroupBox name="decollage">
52 <DoubleSpinBox value="1.1" name="alt decollage (m):"/>
53 <DoubleSpinBox value="0" name="alt atterissage (m):"/>
54 </GroupBox>
55 </GridLayout>
56 </Tab>
57 <Tab name="Mesures">
58 <DataPlot name="z">
59 <Setup period="100" enabled="1"/>
60 </DataPlot>
61 <DataPlot name="vz">
62 <Setup period="100" enabled="1"/>
63 </DataPlot>
64 </Tab>
65 </TabWidget>
66 </Tab>
67 <Tab name="3dmgx3">
68 <TabWidget name="3dmgx3">
69 <Tab name="Reglages">
70 <GroupBox name="3dmgx3">
71 <PushButton value="0" name="gyros bias"/>
72 <SpinBox value="100" name="data rate (Hz):"/>
73 <SpinBox value="1" name="gyro and acc filter win size:"/>
74 <SpinBox value="1" name="mag filter win size:"/>
75 <SpinBox value="1" name="up compensation (s):"/>
76 <SpinBox value="1" name="north compensation (s):"/>
77 <CheckBox value="true" name="enable Coning&amp;Sculling:"/>
78 <CheckBox value="true" name="disable magnetometer:"/>
79 <CheckBox value="true" name="disable magnetic north compensation:"/>
80 <CheckBox value="true" name="disable gravity compensation:"/>
81 </GroupBox>
82 <GroupBox name="post rotation">
83 <DoubleSpinBox value="0" name="valeur (degre):"/>
84 <ComboBox value="0" name="axe:"/>
85 </GroupBox>
86 <GridLayout name="setup"/>
87 </Tab>
88 <Tab name="Mesures">
89 <DataPlot name="roll">
90 <Setup period="100" enabled="1"/>
91 </DataPlot>
92 <DataPlot name="pitch">
93 <Setup period="100" enabled="1"/>
94 </DataPlot>
95 <DataPlot name="yaw">
96 <Setup period="100" enabled="1"/>
97 </DataPlot>
98 <DataPlot name="droll">
99 <Setup period="100" enabled="1"/>
100 </DataPlot>
101 <DataPlot name="dpitch">
102 <Setup period="100" enabled="1"/>
103 </DataPlot>
104 <DataPlot name="dyaw">
105 <Setup period="100" enabled="1"/>
106 </DataPlot>
107 </Tab>
108 </TabWidget>
109 </Tab>
110 <Tab name="loi de commande">
111 <TabWidget name="loi">
112 <Tab name="Reglages">
113 <GroupBox name="uroll">
114 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
115 <DoubleSpinBox value="500000" name="kp:"/>
116 <DoubleSpinBox value="1e+06" name="ki:"/>
117 <DoubleSpinBox value="50000" name="kd:"/>
118 </GroupBox>
119 <GroupBox name="upitch">
120 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
121 <DoubleSpinBox value="500000" name="kp:"/>
122 <DoubleSpinBox value="1e+06" name="ki:"/>
123 <DoubleSpinBox value="50000" name="kd:"/>
124 </GroupBox>
125 <GroupBox name="uyaw">
126 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
127 <DoubleSpinBox value="20000" name="kp:"/>
128 <DoubleSpinBox value="0" name="ki:"/>
129 <DoubleSpinBox value="5000" name="kd:"/>
130 </GroupBox>
131 <GroupBox name="ugaz">
132 <DoubleSpinBox value="0" name="periode (s), 0 for auto:"/>
133 <DoubleSpinBox value="500000" name="kp:"/>
134 <DoubleSpinBox value="100000" name="ki:"/>
135 <DoubleSpinBox value="200000" name="kd:"/>
136 </GroupBox>
137 </Tab>
138 <Tab name="Graphes">
139 <DataPlot name="uroll">
140 <Setup period="100" enabled="1"/>
141 </DataPlot>
142 <DataPlot name="upitch">
143 <Setup period="100" enabled="1"/>
144 </DataPlot>
145 <DataPlot name="uyaw">
146 <Setup period="100" enabled="1"/>
147 </DataPlot>
148 <DataPlot name="ugaz">
149 <Setup period="100" enabled="1"/>
150 </DataPlot>
151 </Tab>
152 </TabWidget>
153 </Tab>
154 <Tab name="ps3eye">
155 <TabWidget name="ps3eye">
156 <Tab name="Reglages">
157 <GroupBox name="ps3eye">
158 <DoubleSpinBox value="0" name="gain:"/>
159 <DoubleSpinBox value="0" name="exposure:"/>
160 <DoubleSpinBox value="0" name="bright:"/>
161 <DoubleSpinBox value="0" name="contrast:"/>
162 <DoubleSpinBox value="0" name="hue:"/>
163 <DoubleSpinBox value="0" name="sharpness:"/>
164 <CheckBox value="true" name="autogain:"/>
165 <CheckBox value="true" name="awb:"/>
166 <Picture name="image source">
167 <Setup period="200" enabled="0"/>
168 </Picture>
169 </GroupBox>
170 <GridLayout name="setup">
171 <GroupBox name="flux optique">
172 <SpinBox value="64" name="max features:"/>
173 </GroupBox>
174 </GridLayout>
175 </Tab>
176 <Tab name="flux optique">
177 <DataPlot name="vx">
178 <Setup period="100" enabled="1"/>
179 </DataPlot>
180 <DataPlot name="vy">
181 <Setup period="100" enabled="1"/>
182 </DataPlot>
183 </Tab>
184 </TabWidget>
185 </Tab>
186 <Tab name="moteurs">
187 <TabWidget name="moteurs">
188 <Tab name="Reglages">
189 <GroupBox name="moteurs">
190 <SpinBox value="0" name="min:"/>
191 <SpinBox value="2000" name="max:"/>
192 <SpinBox value="0" name="test value:"/>
193 <SpinBox value="950" name="valeur demarrage:"/>
194 <DoubleSpinBox value="0.1" name="pas decollage:"/>
195 <ComboBox value="0" name="avant gauche:"/>
196 <PushButton value="0" name="test avg"/>
197 <ComboBox value="1" name="avant droite:"/>
198 <PushButton value="0" name="test avd"/>
199 <ComboBox value="2" name="arriere gauche:"/>
200 <PushButton value="0" name="test arg"/>
201 <ComboBox value="3" name="arriere droite:"/>
202 <PushButton value="0" name="test ard"/>
203 <ComboBox value="0" name="pas helice avant gauche:"/>
204 </GroupBox>
205 </Tab>
206 </TabWidget>
207 </Tab>
208 <Tab name="dualshock3">
209 <TabWidget name="dualshock3">
210 <Tab name="Reglages">
211 <GroupBox name="consignes joy">
212 <DoubleSpinBox value="20" name="debattement roll (deg)"/>
213 <DoubleSpinBox value="20" name="debattement pitch (deg)"/>
214 <DoubleSpinBox value="90" name="debattement dyaw (deg/s)"/>
215 <DoubleSpinBox value="0.7" name="debattement dz (m/s)"/>
216 <SpinBox value="10" name="trim:"/>
217 <Label name="trim roll"/>
218 <PushButton value="0" name="reset roll trim"/>
219 <Label name="trim pitch"/>
220 <PushButton value="0" name="reset pitch trim"/>
221 </GroupBox>
222 <GroupBox name="dualshock3">
223 <SpinBox value="10" name="dead zone:"/>
224 <Label name="batterie"/>
225 </GroupBox>
226 </Tab>
227 <Tab name="Mesures">
228 <DataPlot name="roll">
229 <Setup period="100" enabled="1"/>
230 </DataPlot>
231 <DataPlot name="pitch">
232 <Setup period="100" enabled="1"/>
233 </DataPlot>
234 <DataPlot name="yaw">
235 <Setup period="100" enabled="1"/>
236 </DataPlot>
237 <DataPlot name="gaz">
238 <Setup period="100" enabled="1"/>
239 </DataPlot>
240 </Tab>
241 </TabWidget>
242 </Tab>
243</root>
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