controlDefineVariables.h

00001 #ifndef CONTROL_DEFINE_VARIABLES_H
00002 #define CONTROL_DEFINE_VARIABLES_H
00003 
00004 //NUCLEO-F767ZI
00005 #define FRONT_ION_TX PB_9
00006 #define FRONT_ION_RX PB_8
00007 #define REAR_ION_TX PG_14
00008 #define REAR_ION_RX PG_9
00009 #define MPU_SDA PF_15
00010 #define MPU_SCL PF_14
00011 #define SERVO_1 PE_11 //actx1
00012 #define SERVO_2 PE_9  //actx2
00013 #define LED_ORANGE PG_2
00014 #define LED_RED PG_3
00015 #define LOOP_HB PE_6
00016 
00017 //NUCLEO-H743ZI2
00018 /*
00019 #define FRONT_ION_TX PB_9
00020 #define FRONT_ION_RX PB_8
00021 #define REAR_ION_TX PB_6
00022 #define REAR_ION_RX PB_7
00023 #define MPU_SDA PB_11
00024 #define MPU_SCL PB_10
00025 */
00026 /* motor defines*/
00027 #define ionMcBoudRate  460800
00028 #define frontBoardAddress  128
00029 #define frontMotorGearBoxRatio  103
00030 #define frontEncoderPulse  512
00031 #define frontKt  0.00667
00032 #define frontTransmissionRatio  1.0
00033 #define retroTransmissionRatio  1.0
00034 #define retroBoardAddress  129
00035 #define retroMotorGearBoxRatio  103
00036 #define retroEncoderPulse  512
00037 #define retroKt  0.00667
00038 
00039 /* rover geometric parameters */
00040 #define r_wheels_ 0.0300               //wheels radius
00041 #define longitudinalSemiDist_ 0.1980   //distance from center to front and rear axle
00042 #define lateralSemiDist_  0.0767       //distance from center to left and right contact point (arc on pipe)
00043 
00044 /* IMU defines*/
00045 #define  FS_a 8192    //per avere letture in g, sarebbe 32768/4         perchè 4g è il fondo scala
00046 #define  FS_g 131.072    //per avere letture in gradi/s, sarebbe 32768/250 perchè 250 è il fondo scala
00047 
00048 /* control parameters*/
00049 #define  dtBoard_ 0.002
00050 #define  wheelsAcceleration_ 20000 
00051 #define  Kp_stabilization_ 0.28 //0.3
00052 #define  Kd_stabilization_ 0.08  //TODO LOWER
00053 
00054 /* RC PWMs defines */
00055 // avanzamento
00056 #define minPwmVel_  1020.0  //[us]
00057 #define maxPwmVel_  1980.0  //[us]
00058 #define zeroPwmVel_ 1500.0  //[us]
00059 #define deadzoneVel_  10.0  //[us]
00060 #define maxVel_       0.05  //[m/s]
00061 // switch modalità
00062 #define downLo_   900.0  //[us]
00063 #define downHi_   1100.0 //[us]
00064 #define centerLo_ 1400.0 //[us]
00065 #define centerHi_ 1600.0 //[us]
00066 #define upLo_     1900.0 //[us]
00067 #define upHi_     2100.0 //[us]
00068 #define constTravelVel_ 0.005 //[m/s] .5 cm/s
00069 
00070 
00071 #endif