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
00001 // MLSettings.h 00002 00003 #ifndef MLSETTINGS_H 00004 #define MLSETTINGS_H 00005 00006 // GENERAL SETTINGS 00007 const unsigned short int N_CHANNELS = 3; // Number of channels to control 00008 // 1-3: front segment; 4-6: rear segment; 7-8: mid segment 00009 const int BAUD_RATE = 115200; //9600; //115200 00010 const float PI = 3.14159265359; 00011 00012 // HL COMMUNICATION SETTINGS 00013 const bool IS_DHCP = false; 00014 const unsigned short int HL_COMMS_FREQ_HZ = 200; // Frequency at which communications can happen with HL, if messages are waiting 00015 00016 // REAL TIME FREQUENCIES 00017 const short int SENSOR_FEEDBACK_HZ = 5; // Frequency at which sensor messages are queued / published to HL 00018 const float LL_DEMANDS_FREQ_HZ = 5; 00019 const unsigned int LOW_LEVEL_SPI_FREQUENCY = 1000000; 00020 const double HHC_READ_FREQ_HZ = 50; 00021 00022 const float MAX_PRESSURE_LIMIT = 12.0; 00023 00024 // PATH GENERATION SETTINGS 00025 const float MAX_ACTUATOR_LIMIT_MM = 40.0; 00026 const float MAX_ACTUATOR_LENGTH_MM = 52.2; 00027 const float MAX_SPEED_MMPS = 24.3457; 00028 const float MAX_DRIVE_SEGMENT_POSITION = 8.0;//the maximum pressure attainable by LL 00029 const double MAX_EXTENSION_PRESSURE = 6.0; //the desired maximum operating pressure. 00030 const double MAX_DRIVE_SEGMENT_SPEED = 4.0; 00031 const double SAFE_CONTRACT_SPEED = 2.0; 00032 const double MAX_STEER_SPEED_RADpS = 1.3; //1.212 rad/s was calculated 00033 const double SAFE_SPEED_MMpS = 8.0; 00034 const double ANCHOR_POSITION = 25.0; 00035 const double HOME_DRIVE_POSITION = 0.0; 00036 00037 // KINEMATIC LIMTS & CONSTANTS 00038 const float MAX_THETA_RAD = 3.665191429; //210 degrees 00039 const float ACTUATOR_OFFSET = 6.0; //mm 00040 const double ACT_CONV = 6.055836122; // mm/mL convert injected volume in [mL] to actuator distance in [mm] 00041 00042 #endif
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