config.h

00001 /*Garudago ITB 2019 Attributes*/
00002 
00003 #ifndef  CONFIG_H
00004 #define CONFIG_H
00005 
00006 const float  PI = 3.141592;
00007 const float  RAD_TO_DEG = 57.295779;
00008 const float  WHEEL_RAD = 0.075;
00009 
00010 const float  motor_distance_from_center = 0.365;
00011 const float  encoder_distance_from_center = 0.139;
00012 const float  position_tolerance = 0.05;
00013 const float  orientation_tolerance = 0.05;
00014 
00015 const float  max_velocity_magnitude = 2.0;
00016 const float  max_rotation_magnitude = 3.0;
00017 const float  cutoff_velocity_magnitude = 0.4;
00018 const float  cutoff_rotation_magnitude = 1.6;
00019 
00020 const float  max_linear_acceleration_magnitude = 2.5;
00021 const float  max_angular_acceleration_magnitude = 4.0;
00022 const float  max_linear_deceleration_magnitude = 1.9;
00023 const float  max_angular_deceleration_magnitude = 4.0;
00024 
00025 const float  linear_acceleration_feedforward_factor = 1.0;
00026 const float  angular_acceleration_feedforward_factor = 1.0;
00027 const float  linear_deceleration_feedforward_factor = 1.0;
00028 const float  angular_deceleration_feedforward_factor = 1.0;
00029 
00030 const float right_top_kp = 1;
00031 const float right_top_ki = 1;
00032 const float right_top_kd = 0.0;
00033 const float right_top_N  = 0.0;
00034 const float right_top_TS = 0.02;
00035 const float right_top_FF = 0.1;
00036 
00037 const float left_top_kp = right_top_kp;
00038 const float left_top_ki = right_top_ki;
00039 const float left_top_kd = 0.0;
00040 const float left_top_N  = 0.0;
00041 const float left_top_TS = 0.02;
00042 const float left_top_FF = 0.0;
00043 
00044 const float right_back_kp = right_top_kp;
00045 const float right_back_ki = right_top_ki;
00046 const float right_back_kd = 0.0;
00047 const float right_back_N  = 0.0;
00048 const float right_back_TS = 0.02;
00049 const float right_back_FF = 0.0;
00050 
00051 const float left_back_kp = right_top_kp;
00052 const float left_back_ki = right_top_ki;
00053 const float left_back_kd = 0.0;
00054 const float left_back_N  = 0.0;
00055 const float left_back_TS = 0.02;
00056 const float left_back_FF = 0.0;
00057 
00058 const float manual_linear_velocity = 3;
00059 
00060 #endif