Diff: controlDefineVariables.h

Revision:

10:62e9b61ed1ad

Parent:

6:584653235830

--- a/controlDefineVariables.h	Mon Dec 20 10:30:08 2021 +0000
+++ b/controlDefineVariables.h	Wed Jul 27 09:35:20 2022 +0000
@@ -1,7 +1,29 @@
 #ifndef CONTROL_DEFINE_VARIABLES_H
 #define CONTROL_DEFINE_VARIABLES_H
 
+//NUCLEO-F767ZI
+#define FRONT_ION_TX PB_9
+#define FRONT_ION_RX PB_8
+#define REAR_ION_TX PG_14
+#define REAR_ION_RX PG_9
+#define MPU_SDA PF_15
+#define MPU_SCL PF_14
+#define SERVO_1 PE_11 //actx1
+#define SERVO_2 PE_9  //actx2
+#define LED_ORANGE PG_2
+#define LED_RED PG_3
+#define LOOP_HB PE_6
 
+//NUCLEO-H743ZI2
+/*
+#define FRONT_ION_TX PB_9
+#define FRONT_ION_RX PB_8
+#define REAR_ION_TX PB_6
+#define REAR_ION_RX PB_7
+#define MPU_SDA PB_11
+#define MPU_SCL PB_10
+*/
+/* motor defines*/
 #define ionMcBoudRate  460800
 #define frontBoardAddress  128
 #define frontMotorGearBoxRatio  103
@@ -14,21 +36,36 @@
 #define retroEncoderPulse  512
 #define retroKt  0.00667
 
+/* rover geometric parameters */
+#define r_wheels_ 0.0300               //wheels radius
+#define longitudinalSemiDist_ 0.1980   //distance from center to front and rear axle
+#define lateralSemiDist_  0.0767       //distance from center to left and right contact point (arc on pipe)
+
+/* IMU defines*/
 #define  FS_a 8192    //per avere letture in g, sarebbe 32768/4         perchè 4g è il fondo scala
 #define  FS_g 131.072    //per avere letture in gradi/s, sarebbe 32768/250 perchè 250 è il fondo scala
 
+/* control parameters*/
+#define  dtBoard_ 0.002
+#define  wheelsAcceleration_ 20000 
+#define  Kp_stabilization_ 0.28 //0.3
+#define  Kd_stabilization_ 0.08  //TODO LOWER
+
+/* RC PWMs defines */
+// avanzamento
+#define minPwmVel_  1020.0  //[us]
+#define maxPwmVel_  1980.0  //[us]
+#define zeroPwmVel_ 1500.0  //[us]
+#define deadzoneVel_  10.0  //[us]
+#define maxVel_       0.05  //[m/s]
+// switch modalità
+#define downLo_   900.0  //[us]
+#define downHi_   1100.0 //[us]
+#define centerLo_ 1400.0 //[us]
+#define centerHi_ 1600.0 //[us]
+#define upLo_     1900.0 //[us]
+#define upHi_     2100.0 //[us]
+#define constTravelVel_ 0.005 //[m/s] .5 cm/s
 
 
-/*#define dtBoard 0.002
-
-#define r_frontWheel  0.03
-#define r_retroWheel  0.03
-
-#define pipeCurve_I  0.165
-#define pipeCurve_E  0.2925
-#define pipeCurve_M  0.228
-        
-#define retroFrontCentralDistance  0.25
-#define wheelsCntactPointDistanceFromPipeCenter 0.08 */
-
 #endif
\ No newline at end of file