MorphGI / Mbed OS MGI_Rebuild_MidLevel_9_0-Basic_PWM

Basic Mid-Level control for the rebuilt MorphGI control unit, using PWM to communicate with the low level controllers.

Dependencies:   ros_lib_kinetic

MLSettings.h@42:5a5ad23a4bb1, 2021-06-24 (annotated)

Committer:
dofydoink
Date:
Thu Jun 24 20:34:47 2021 +0000
Revision:
42:5a5ad23a4bb1
Parent:
41:0e3898b29230 
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dofydoink 12:595ed862e52f 1 // MLSettings.h
dofydoink 12:595ed862e52f 2
dofydoink 12:595ed862e52f 3 #ifndef MLSETTINGS_H
dofydoink 12:595ed862e52f 4 #define MLSETTINGS_H
dofydoink 12:595ed862e52f 5
dofydoink 12:595ed862e52f 6 // GENERAL SETTINGS
dofydoink 42:5a5ad23a4bb1 7 const unsigned short int N_CHANNELS = 3; // Number of channels to control
dofydoink 12:595ed862e52f 8 // 1-3: front segment; 4-6: rear segment; 7-8: mid segment
WD40andTape 28:8e0c502c1a50 9 const int BAUD_RATE = 115200; //9600; //115200
dofydoink 42:5a5ad23a4bb1 10 const float PI = 3.14159265359;
dofydoink 12:595ed862e52f 11
dofydoink 12:595ed862e52f 12 // HL COMMUNICATION SETTINGS
dofydoink 12:595ed862e52f 13 const bool IS_DHCP = false;
WD40andTape 31:08cb04eb75fc 14 const unsigned short int HL_COMMS_FREQ_HZ = 200; // Frequency at which communications can happen with HL, if messages are waiting
WD40andTape 24:bc852aa89e7a 15
WD40andTape 24:bc852aa89e7a 16 // REAL TIME FREQUENCIES
dofydoink 42:5a5ad23a4bb1 17 const short int SENSOR_FEEDBACK_HZ = 5; // Frequency at which sensor messages are queued / published to HL
dofydoink 42:5a5ad23a4bb1 18 const float LL_DEMANDS_FREQ_HZ = 5;
dofydoink 42:5a5ad23a4bb1 19 const unsigned int LOW_LEVEL_SPI_FREQUENCY = 1000000;
dofydoink 42:5a5ad23a4bb1 20 const double HHC_READ_FREQ_HZ = 50;
dofydoink 12:595ed862e52f 21
dofydoink 41:0e3898b29230 22 const float MAX_PRESSURE_LIMIT = 12.0;
WD40andTape 26:7c59002c9cd7 23
dofydoink 12:595ed862e52f 24 // PATH GENERATION SETTINGS
WD40andTape 27:6853ee8ffefd 25 const float MAX_ACTUATOR_LIMIT_MM = 40.0;
WD40andTape 26:7c59002c9cd7 26 const float MAX_ACTUATOR_LENGTH_MM = 52.2;
dofydoink 12:595ed862e52f 27 const float MAX_SPEED_MMPS = 24.3457;
dofydoink 42:5a5ad23a4bb1 28 const float MAX_DRIVE_SEGMENT_POSITION = 8.0;//the maximum pressure attainable by LL
dofydoink 42:5a5ad23a4bb1 29 const double MAX_EXTENSION_PRESSURE = 6.0; //the desired maximum operating pressure.
dofydoink 42:5a5ad23a4bb1 30 const double MAX_DRIVE_SEGMENT_SPEED = 4.0;
dofydoink 42:5a5ad23a4bb1 31 const double SAFE_CONTRACT_SPEED = 2.0;
dofydoink 42:5a5ad23a4bb1 32 const double MAX_STEER_SPEED_RADpS = 1.3; //1.212 rad/s was calculated
dofydoink 42:5a5ad23a4bb1 33 const double SAFE_SPEED_MMpS = 8.0;
dofydoink 42:5a5ad23a4bb1 34 const double ANCHOR_POSITION = 25.0;
dofydoink 42:5a5ad23a4bb1 35 const double HOME_DRIVE_POSITION = 0.0;
dofydoink 42:5a5ad23a4bb1 36
dofydoink 42:5a5ad23a4bb1 37 // KINEMATIC LIMTS & CONSTANTS
dofydoink 42:5a5ad23a4bb1 38 const float MAX_THETA_RAD = 3.665191429; //210 degrees
dofydoink 42:5a5ad23a4bb1 39 const float ACTUATOR_OFFSET = 6.0; //mm
dofydoink 42:5a5ad23a4bb1 40 const double ACT_CONV = 6.055836122; // mm/mL convert injected volume in [mL] to actuator distance in [mm]
dofydoink 12:595ed862e52f 41
dofydoink 12:595ed862e52f 42 #endif