Messa in campo 4 file - 26/06/2020 Francia
Dependencies: mbed X_NUCLEO_IHM03A1_for
Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by
parameters.hpp
- Committer:
- nerit
- Date:
- 2019-03-25
- Revision:
- 13:d1030d4e51a8
- Parent:
- 8:310f9e4eac7b
- Child:
- 14:e2b5efa06c41
File content as of revision 13:d1030d4e51a8:
// define constants const double Pi = 3.141592654f; // l'encoder del DC produce 51 impulsi ogni 2 giri sull'albero lento const double dcPulseTurn = 25.5f; // define logic UI variables which NEED TO BE SET FROM UI // *** speed wheel double speedWheelDiameter = 0.300f; // variable for tractor speed calculation (need to be set from UI) ( Unit= meters ) double speedWheelPulse = 18.0f; // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI) // *** seeding wheel double seedWheelDiameter = 0.75f; // seed wheel diameter setting double seedWheelMotorSteps = 3200.0f; // seed wheel motor steps without reduction (defined from driver) double seedWheelRPM=0.0f; // number of turn per minute of seed wheel double seedWhellFrequency=0.0f; // seed wheel frequency which is function of tractor speed double seedWheelPeriod=0.0f; // seed wheel pulse period double deepOfSeed=0.00f; // deep of seeding double oldSeedWheelPeriod=0.0f; double pickNumber = 8.0f; // numero di becchi installati sulla ruota di semina double cellsNumber = 15.0f; // numero di celle del tamburo double TBmotorSteps = 1600.0f; // TB wheel motor steps without reduction (defined from driver) //double TBreductionRatio = 1.65625f; // TB mechanical reduction ratio #if defined(Zucca) double TBreductionRatio = 3.00f; // TB mechanical reduction ratio #else double TBreductionRatio = 1.65625f; // TB mechanical reduction ratio #endif double SDreductionRatio =2.5714f; // seed wheel machanical reduction ratio double TBdeltaStep = 0.0f; // steps of advance for manage tb motor respect sd motor double K_WheelRPM =0.0f; double K_WhellFrequency=0.0f; double K_TBfrequency = 0.0f; double K_percentuale = 0.0f; double timeIntraPick = 0.0f; double teoryTimeIntraPick = 0.0f; double intraPickDistance = 0.0f; uint16_t periodoSD = 1000; double dcStopDuty = 0.0f; double dcMinDuty = 0.0f; // definisce il duty cycle minimo alla partenza (corrisponde alla tensione minima di rotazione) double dcMaxDuty = 1.0f; // definisce il duty cycle al massimo della velocità double dcMinSpeed = 0.65f; double dcMaxSpeed = 1.00f; double dcStarting = 0.30f; double fixedStepGiroSD = 9000.0f; // numero di suddivisioni angolo giro della ruota di semina double minWorkSpeed=0.19f;//0.138888f; //metri al secondo pari a 0,5Kmh double maxWorkSpeed=1.277777f; //metri al secondo pari a 4.6Kmh double tabComan[22]={0.25,0.255,0.260,0.265,0.27,0.28,0.3107,0.314,0.34,0.3655,0.391,0.4165,0.4335,0.459,0.51,0.5525,0.595}; double tabSpeed[22]={0.10,0.14,0.19,0.22,0.25,0.28,0.33,0.36,0.41,0.45,0.49,0.55,0.59,0.62,0.75,0.80,0.82}; //double minPosSpeed=0.20f; // metri/secondo (0,20 = 0,72KmH) double minSeedSpeed=0.18f; // attiva il LowSpeed mt/s (0,28 = 1,0KmH) double speedForCorrection=0.25f; int cicliAspettaStart = 2; double avvioGradi=5.0f; double angoloFase = 3.0f;