Clone per testare Mbed studio
Dependencies: PwmIn IONMcMotor MPU6050 Eigen ROVER
Fork of Hyfliers_Completo_testato by
controlDefineVariables.h
- Committer:
- aledek
- Date:
- 2022-07-27
- Revision:
- 11:d93fbd8e02e9
- Parent:
- 10:62e9b61ed1ad
File content as of revision 11:d93fbd8e02e9:
#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 #define frontEncoderPulse 512 #define frontKt 0.00667 #define frontTransmissionRatio 1.0 #define retroTransmissionRatio 1.0 #define retroBoardAddress 129 #define retroMotorGearBoxRatio 103 #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 #endif