constants.h

00001 #pragma once
00002 
00003 const double PI = 3.14159265359;
00004 // Main loop wait time per cycle. This does not influence the motor PID or EMG reading frequencies.
00005 const float main_loop_wait_time = 0.01;
00006 
00007 // Time between two button polls. Used to debounce the button presses.
00008 const float button_poll_interval = 0.05;
00009 
00010 const float pid_period = 0.001; // PID sample period in seconds.
00011 
00012 const float emg_period = 0.005; // EMG sample period in seconds.
00013 
00014 const float Kp = 10.0;
00015 const float Ki = 0.1;
00016 const float Kd = 0.5;
00017 
00018 // The motor -> main gear ratio is 25 / 60.
00019 // The motor -> secondary gear ratio is 25/50
00020 const float main_gear_ratio = 25.0/60.0;
00021 const float sec_gear_ratio = 25.0/50.0;
00022 
00023 const double main_motor_calibration_angle = 0.785398; // 45 degrees.
00024 const double sec_motor_calibration_angle = -0.733038; // -42 degrees.
00025 
00026 const float L0 = 0.15;                      // Length between two motors [meter]
00027 const float L1 = 0.10;                      // Length first beam from right motor2 [meter]
00028 const float L2 = 0.30;                      // Length second beam from right motor2 [meter]
00029 const float L3 = 0.15;                      // Length beam between L2 and L4 [meter]
00030 const float L4 = 0.30;                      // Length first beam from left motor1 [meter]
00031 const float L5 = 0.35;                      // Length from L3 to end-effector [meter]
00032 const float L6 = 1.0;                       // Length beam between frame 0 and motor 1 [meter]
00033 
00034 // For inverse kinematics, maximum values for angles.
00035 const float max_r_length = 0.2399; // If delta is too large the device will get stuck
00036 // Maximum and minimum angles of the main and secondary arm.
00037 const float main_arm_max_angle = 2.79253;
00038 const float main_arm_min_angle = main_motor_calibration_angle - 0.05;
00039 const float sec_arm_max_angle = 1.48353;
00040 const float sec_arm_min_angle = sec_motor_calibration_angle + 0.05;