#!/usr/bin/python

from struct import pack
from os import system

# Pretty good values; tends to oscilate a little
#
#KA_P      = 280;
#KA_I      = 210;
#KA_D      = 700;
#KA_ISize  = 700;

#KA_P      = 280;
#KA_I      = 220;
#KA_D      = 1000;
#KA_ISize  = 600;

#KA_P      = 280;
#KA_I      = 120;
#KA_D      = 1100;
#KA_ISize  = 1300;


KA_P      = 280
KA_I      = 145
KA_D      = 1500
KA_ISize  = 1300


KM_P      = 5000
KM_I      = 0
KM_Id     = 0
KM_D      = 200000
KM_PP     = 0
KM_ISize  = 300

TravelAngle = 250
AnchorLength = 20
MaxSpeed = 20

data = pack("iiiiiiiiiiii",
            KA_P, KA_I, KA_D, KA_ISize,
            KM_P, KM_I, KM_Id, KM_D, KM_PP, KM_ISize,
            TravelAngle, AnchorLength)

f = file("eeprom_image", "w")
f.write(data)
f.close()

system("srec_cat eeprom_image -Binary -Output eeprom_image.srec -Motorola")
system("uisp -dlpt=/dev/ppdev0 -dprog=dapa --segment=eeprom --upload if=eeprom_image.srec")