parameters.h

00001 //Parameters of the robot
00002 //includes CANopen codes and robot parameters
00003 
00004 
00005 /*
00006 Here is the list of the CANopen Codes to sent to the motor driver
00007 There identifiers and word code
00008 These parameters can be changed
00009 */
00010 
00011 
00012 //Identifier Codes
00013 
00014 /*
00015 To set right value for:
00016 RPDO1 => 0x200 + ID
00017 RPDO2 => 0x300 + ID
00018 RPDO3 => 0x400 + ID
00019 RPDO4 => 0x500 + ID
00020 TPDO1 => 0x180 + ID
00021 TPDO2 => 0x280 + ID
00022 TPDO3 => 0x380 + ID
00023 TPDO4 => 0x480 + ID
00024 */
00025 
00026 
00027 #define INITOP    0x00 
00028 #define RPDO1_R   0x215
00029 #define RPDO2_R   0x315
00030 #define RPDO3_R   0x415
00031 #define RPDO4_R   0x515
00032 #define TPDO1_R   0x195
00033 #define TPDO2_R   0x295
00034 #define TPDO3_R   0x395
00035 #define TPDO4_R   0x495
00036 #define RPDO1_L   0x220
00037 #define RPDO2_L   0x320
00038 #define RPDO3_L   0x420
00039 #define RPDO4_L   0x520
00040 #define TPDO1_L   0x1A0
00041 #define TPDO2_L   0x2A0
00042 #define TPDO3_L   0x3A0
00043 #define TPDO4_L   0x4A0
00044 
00045 
00046 
00047 
00048 
00049 //Driver adresses for operational mode
00050 //Example : DRIVER_R1 = 0x01  DRIVER_R2= 0x15  ---->  Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115
00051 
00052 #define DRIVER_R1 0x01
00053 #define DRIVER_R2 0x15
00054 #define DRIVER_L1 0x01
00055 #define DRIVER_L2 0x20
00056 
00057 
00058 
00059 
00060 
00061 //Robot setup
00062 
00063 //Here is the configuration of the robot
00064 //These value can be changed
00065 
00066 
00067 //Length from motors to cursor in millimeters(mm) when the origin is taken
00068 
00069 //Left motor to cursor
00070 #define LENGTH_L1_PO 740
00071 
00072 //Right motor to cursor
00073 #define LENGTH_L2_PO 740
00074 
00075 //Left motor to Right motor
00076 #define LENGTH_MOTOR 1000
00077 
00078 //Max velocity for normal mode
00079 #define ALPHA   425000 
00080 
00081 //Number of counters for 1 millimeters
00082 #define REFERENCE 2545
00083 
00084 
00085 
00086 
00087 /*Here is the default values
00088 
00089 
00090 //Identifier Codes
00091 
00092 #define INITOP    0x00 
00093 #define RPDO1_R   0x215
00094 #define RPDO2_R   0x315
00095 #define RPDO3_R   0x415
00096 #define RPDO4_R   0x515
00097 #define TPDO1_R   0x195
00098 #define TPDO2_R   0x295
00099 #define TPDO3_R   0x395
00100 #define TPDO4_R   0x495
00101 #define RPDO1_L   0x220
00102 #define RPDO2_L   0x320
00103 #define RPDO3_L   0x420
00104 #define RPDO4_L   0x520
00105 #define TPDO1_L   0x1A0
00106 #define TPDO2_L   0x2A0
00107 #define TPDO3_L   0x3A0
00108 #define TPDO4_L   0x4A0
00109 
00110 
00111 //Driver adresses for operational mode
00112 //Example : DRIVER_R1 = 0x01  DRIVER_R2= 0x15  ---->  Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115
00113 
00114 #define DRIVER11 0x01
00115 #define DRIVER12 0x15
00116 #define DRIVER21 0x01
00117 #define DRIVER22 0x20
00118 
00119 
00120 
00121 //Robot setup
00122 
00123 //Here is the configuration of the robot
00124 //These value can be changed
00125 
00126 
00127 //Length from motors to cursor in millimeters(mm) when the origin is taken
00128 
00129 //Left motor to cursor
00130 #define LENGTH_L1_PO 740
00131 
00132 //Right motor to cursor
00133 #define LENGTH_L2_PO 740
00134 
00135 //Left motor to Right motor
00136 #define LENGTH_MOTOR 1000
00137 
00138 //Max velocity for normal mode
00139 #define ALPHA   425000 
00140 
00141 //Number of counters for 1 millimeters
00142 #define REFERENCE 2545
00143 
00144 
00145 
00146 
00147 */
00148 
00149 
00150 
00151 
00152 
00153 
00154 
00155