RaC2018 / Mbed 2 deprecated Robot_a_cables_v3_0

version 3.0

Dependencies:   mbed

Fork of Robot_a_cables_v2_6_5 by RaC2018

parameters.h@10:e4e1228604fb, 2018-05-23 (annotated)

Committer:
protongamer
Date:
Wed May 23 12:33:04 2018 +0000
Revision:
10:e4e1228604fb
Parent:
9:0f63d4cb5613 
42

Who changed what in which revision?

UserRevisionLine numberNew contents of line
protongamer 10:e4e1228604fb 1 //Parameters of the robot
protongamer 10:e4e1228604fb 2 //includes CANopen codes and robot parameters
protongamer 3:86e21a36eecb 3
protongamer 3:86e21a36eecb 4
protongamer 10:e4e1228604fb 5 /*
protongamer 10:e4e1228604fb 6 Here is the list of the CANopen Codes to sent to the motor driver
protongamer 10:e4e1228604fb 7 There identifiers and word code
protongamer 10:e4e1228604fb 8 These parameters can be changed
protongamer 3:86e21a36eecb 9 */
protongamer 3:86e21a36eecb 10
protongamer 3:86e21a36eecb 11
protongamer 3:86e21a36eecb 12 //Identifier Codes
protongamer 3:86e21a36eecb 13
protongamer 3:86e21a36eecb 14 /*
protongamer 3:86e21a36eecb 15 To set right value for:
protongamer 3:86e21a36eecb 16 RPDO1 => 0x200 + ID
protongamer 3:86e21a36eecb 17 RPDO2 => 0x300 + ID
protongamer 3:86e21a36eecb 18 RPDO3 => 0x400 + ID
protongamer 3:86e21a36eecb 19 RPDO4 => 0x500 + ID
protongamer 3:86e21a36eecb 20 TPDO1 => 0x180 + ID
protongamer 3:86e21a36eecb 21 TPDO2 => 0x280 + ID
protongamer 3:86e21a36eecb 22 TPDO3 => 0x380 + ID
protongamer 3:86e21a36eecb 23 TPDO4 => 0x480 + ID
protongamer 3:86e21a36eecb 24 */
protongamer 3:86e21a36eecb 25
protongamer 3:86e21a36eecb 26
protongamer 3:86e21a36eecb 27 #define INITOP 0x00
protongamer 3:86e21a36eecb 28 #define RPDO1_R 0x215
protongamer 3:86e21a36eecb 29 #define RPDO2_R 0x315
protongamer 3:86e21a36eecb 30 #define RPDO3_R 0x415
protongamer 3:86e21a36eecb 31 #define RPDO4_R 0x515
protongamer 3:86e21a36eecb 32 #define TPDO1_R 0x195
protongamer 3:86e21a36eecb 33 #define TPDO2_R 0x295
protongamer 3:86e21a36eecb 34 #define TPDO3_R 0x395
protongamer 3:86e21a36eecb 35 #define TPDO4_R 0x495
protongamer 3:86e21a36eecb 36 #define RPDO1_L 0x220
protongamer 3:86e21a36eecb 37 #define RPDO2_L 0x320
protongamer 3:86e21a36eecb 38 #define RPDO3_L 0x420
protongamer 3:86e21a36eecb 39 #define RPDO4_L 0x520
protongamer 3:86e21a36eecb 40 #define TPDO1_L 0x1A0
protongamer 3:86e21a36eecb 41 #define TPDO2_L 0x2A0
protongamer 3:86e21a36eecb 42 #define TPDO3_L 0x3A0
protongamer 3:86e21a36eecb 43 #define TPDO4_L 0x4A0
protongamer 3:86e21a36eecb 44
protongamer 3:86e21a36eecb 45
protongamer 3:86e21a36eecb 46
protongamer 10:e4e1228604fb 47
protongamer 3:86e21a36eecb 48
protongamer 10:e4e1228604fb 49 //Driver adresses for operational mode
protongamer 10:e4e1228604fb 50 //Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115
protongamer 10:e4e1228604fb 51
protongamer 3:86e21a36eecb 52 #define DRIVER_R1 0x01
protongamer 3:86e21a36eecb 53 #define DRIVER_R2 0x15
protongamer 3:86e21a36eecb 54 #define DRIVER_L1 0x01
protongamer 3:86e21a36eecb 55 #define DRIVER_L2 0x20
protongamer 6:ffffa9dfadfc 56
protongamer 6:ffffa9dfadfc 57
protongamer 6:ffffa9dfadfc 58
protongamer 6:ffffa9dfadfc 59
protongamer 6:ffffa9dfadfc 60
protongamer 6:ffffa9dfadfc 61 //Robot setup
protongamer 10:e4e1228604fb 62
protongamer 10:e4e1228604fb 63 //Here is the configuration of the robot
protongamer 10:e4e1228604fb 64 //These value can be changed
protongamer 10:e4e1228604fb 65
protongamer 6:ffffa9dfadfc 66
protongamer 6:ffffa9dfadfc 67 //Length from motors to cursor in millimeters(mm) when the origin is taken
protongamer 10:e4e1228604fb 68
protongamer 6:ffffa9dfadfc 69 //Left motor to cursor
protongamer 8:1e6d3d9ae1d3 70 #define LENGTH_L1_PO 781
protongamer 10:e4e1228604fb 71
protongamer 7:e87feff62bfd 72 //Right motor to cursor
protongamer 8:1e6d3d9ae1d3 73 #define LENGTH_L2_PO 781
protongamer 10:e4e1228604fb 74
protongamer 7:e87feff62bfd 75 //Left motor to Right motor
protongamer 9:0f63d4cb5613 76 #define LENGTH_MOTOR 1000
protongamer 10:e4e1228604fb 77
protongamer 10:e4e1228604fb 78 //Max velocity for normal mode
protongamer 10:e4e1228604fb 79 #define ALPHA 425000
protongamer 10:e4e1228604fb 80
protongamer 10:e4e1228604fb 81 //Number of counters for 1 millimeters
protongamer 10:e4e1228604fb 82 #define REFERENCE 2545
protongamer 10:e4e1228604fb 83
protongamer 10:e4e1228604fb 84
protongamer 10:e4e1228604fb 85
protongamer 10:e4e1228604fb 86
protongamer 10:e4e1228604fb 87 /*Here is the default values
protongamer 10:e4e1228604fb 88
protongamer 10:e4e1228604fb 89
protongamer 10:e4e1228604fb 90 //Identifier Codes
protongamer 10:e4e1228604fb 91
protongamer 10:e4e1228604fb 92 #define INITOP 0x00
protongamer 10:e4e1228604fb 93 #define RPDO1_R 0x215
protongamer 10:e4e1228604fb 94 #define RPDO2_R 0x315
protongamer 10:e4e1228604fb 95 #define RPDO3_R 0x415
protongamer 10:e4e1228604fb 96 #define RPDO4_R 0x515
protongamer 10:e4e1228604fb 97 #define TPDO1_R 0x195
protongamer 10:e4e1228604fb 98 #define TPDO2_R 0x295
protongamer 10:e4e1228604fb 99 #define TPDO3_R 0x395
protongamer 10:e4e1228604fb 100 #define TPDO4_R 0x495
protongamer 10:e4e1228604fb 101 #define RPDO1_L 0x220
protongamer 10:e4e1228604fb 102 #define RPDO2_L 0x320
protongamer 10:e4e1228604fb 103 #define RPDO3_L 0x420
protongamer 10:e4e1228604fb 104 #define RPDO4_L 0x520
protongamer 10:e4e1228604fb 105 #define TPDO1_L 0x1A0
protongamer 10:e4e1228604fb 106 #define TPDO2_L 0x2A0
protongamer 10:e4e1228604fb 107 #define TPDO3_L 0x3A0
protongamer 10:e4e1228604fb 108 #define TPDO4_L 0x4A0
protongamer 10:e4e1228604fb 109
protongamer 10:e4e1228604fb 110
protongamer 10:e4e1228604fb 111 //Driver adresses for operational mode
protongamer 10:e4e1228604fb 112 //Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115
protongamer 10:e4e1228604fb 113
protongamer 10:e4e1228604fb 114 #define DRIVER11 0x01
protongamer 10:e4e1228604fb 115 #define DRIVER12 0x15
protongamer 10:e4e1228604fb 116 #define DRIVER21 0x01
protongamer 10:e4e1228604fb 117 #define DRIVER22 0x20
protongamer 10:e4e1228604fb 118
protongamer 10:e4e1228604fb 119
protongamer 10:e4e1228604fb 120
protongamer 10:e4e1228604fb 121 //Robot setup
protongamer 10:e4e1228604fb 122
protongamer 10:e4e1228604fb 123 //Here is the configuration of the robot
protongamer 10:e4e1228604fb 124 //These value can be changed
protongamer 10:e4e1228604fb 125
protongamer 10:e4e1228604fb 126
protongamer 10:e4e1228604fb 127 //Length from motors to cursor in millimeters(mm) when the origin is taken
protongamer 10:e4e1228604fb 128
protongamer 10:e4e1228604fb 129 //Left motor to cursor
protongamer 10:e4e1228604fb 130 #define LENGTH_L1_PO 781
protongamer 10:e4e1228604fb 131
protongamer 10:e4e1228604fb 132 //Right motor to cursor
protongamer 10:e4e1228604fb 133 #define LENGTH_L2_PO 781
protongamer 10:e4e1228604fb 134
protongamer 10:e4e1228604fb 135 //Left motor to Right motor
protongamer 10:e4e1228604fb 136 #define LENGTH_MOTOR 1000
protongamer 10:e4e1228604fb 137
protongamer 10:e4e1228604fb 138 //Max velocity for normal mode
protongamer 10:e4e1228604fb 139 #define ALPHA 425000
protongamer 10:e4e1228604fb 140
protongamer 10:e4e1228604fb 141 //Number of counters for 1 millimeters
protongamer 10:e4e1228604fb 142 #define REFERENCE 2545
protongamer 10:e4e1228604fb 143
protongamer 10:e4e1228604fb 144
protongamer 10:e4e1228604fb 145
protongamer 10:e4e1228604fb 146
protongamer 10:e4e1228604fb 147 */
protongamer 10:e4e1228604fb 148
protongamer 10:e4e1228604fb 149
protongamer 10:e4e1228604fb 150
protongamer 10:e4e1228604fb 151
protongamer 10:e4e1228604fb 152
protongamer 10:e4e1228604fb 153
protongamer 10:e4e1228604fb 154
protongamer 10:e4e1228604fb 155