Diff: constants.h

Revision:

20:af1a6cd7469b

Child:

27:b247e78a4380

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/constants.h	Wed Oct 31 18:22:39 2018 +0000
@@ -0,0 +1,34 @@
+#pragma once
+
+const double PI = 3.14159265359;
+// Main loop wait time per cycle. This does not influence the motor PID or EMG reading frequencies.
+const float main_loop_wait_time = 0.01;
+
+// Time between two button polls. Used to debounce the button presses.
+const float button_poll_interval = 0.05;
+
+const float pid_period = 0.001; // PID sample period in seconds.
+
+const float Kp = 10.0;
+const float Ki = 0.1;
+const float Kd = 0.5;
+
+// The motor -> main gear ratio is 25 / 60.
+// The motor -> secondary gear ratio is 25/50
+const float main_gear_ratio = 25.0/60.0;
+const float sec_gear_ratio = 25.0/50.0;
+
+
+const float L0 = 0.15;                      // Length between two motors [meter]
+const float L1 = 0.10;                      // Length first beam from right motor2 [meter]
+const float L2 = 0.30;                      // Length second beam from right motor2 [meter]
+const float L3 = 0.15;                      // Length beam between L2 and L4 [meter]
+const float L4 = 0.30;                      // Length first beam from left motor1 [meter]
+const float L5 = 0.35;                      // Length from L3 to end-effector [meter]
+const float L6 = 1.0;                       // Length beam between frame 0 and motor 1 [meter]
+
+// Maximum and minimum angles of the main and secondary arm.
+const float main_arm_max_angle = 1.22173;
+const float main_arm_min_angle = 0.785398;
+const float sec_arm_max_angle = 1.48353;
+const float sec_arm_min_angle = -0.733038;
\ No newline at end of file