version 3.0
Dependencies: mbed
Fork of Robot_a_cables_v2_6_5 by
Diff: parameters.h
- Revision:
- 10:e4e1228604fb
- Parent:
- 9:0f63d4cb5613
--- a/parameters.h Fri May 18 09:03:25 2018 +0000 +++ b/parameters.h Wed May 23 12:33:04 2018 +0000 @@ -1,49 +1,14 @@ -/* -Here is the list of the CAN Codes to sent to the motor driver -There identifiers and word code -These parameters can be changed - -Here is the default values +//Parameters of the robot +//includes CANopen codes and robot parameters -//Identifier Codes - -#define INITOP 0x00 -#define RPDO1_R 0x215 -#define RPDO2_R 0x315 -#define RPDO3_R 0x415 -#define RPDO4_R 0x515 -#define TPDO1_R 0x195 -#define TPDO2_R 0x295 -#define TPDO3_R 0x395 -#define TPDO4_R 0x495 -#define RPDO1_L 0x220 -#define RPDO2_L 0x320 -#define RPDO3_L 0x420 -#define RPDO4_L 0x520 -#define TPDO1_L 0x1A0 -#define TPDO2_L 0x2A0 -#define TPDO3_L 0x3A0 -#define TPDO4_L 0x4A0 - - - -//Word codes - -//Driver adresses -#define DRIVER11 0x01 -#define DRIVER12 0x15 -#define DRIVER21 0x01 -#define DRIVER22 0x20 - - - +/* +Here is the list of the CANopen Codes to sent to the motor driver +There identifiers and word code +These parameters can be changed */ - - - //Identifier Codes /* @@ -79,9 +44,11 @@ -//Word codes + -//Driver adresses +//Driver adresses for operational mode +//Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115 + #define DRIVER_R1 0x01 #define DRIVER_R2 0x15 #define DRIVER_L1 0x01 @@ -92,14 +59,97 @@ //Robot setup -/* -Here is the configuration of the robot -*/ + +//Here is the configuration of the robot +//These value can be changed + //Length from motors to cursor in millimeters(mm) when the origin is taken + //Left motor to cursor #define LENGTH_L1_PO 781 + //Right motor to cursor #define LENGTH_L2_PO 781 + //Left motor to Right motor #define LENGTH_MOTOR 1000 + +//Max velocity for normal mode +#define ALPHA 425000 + +//Number of counters for 1 millimeters +#define REFERENCE 2545 + + + + +/*Here is the default values + + +//Identifier Codes + +#define INITOP 0x00 +#define RPDO1_R 0x215 +#define RPDO2_R 0x315 +#define RPDO3_R 0x415 +#define RPDO4_R 0x515 +#define TPDO1_R 0x195 +#define TPDO2_R 0x295 +#define TPDO3_R 0x395 +#define TPDO4_R 0x495 +#define RPDO1_L 0x220 +#define RPDO2_L 0x320 +#define RPDO3_L 0x420 +#define RPDO4_L 0x520 +#define TPDO1_L 0x1A0 +#define TPDO2_L 0x2A0 +#define TPDO3_L 0x3A0 +#define TPDO4_L 0x4A0 + + +//Driver adresses for operational mode +//Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115 + +#define DRIVER11 0x01 +#define DRIVER12 0x15 +#define DRIVER21 0x01 +#define DRIVER22 0x20 + + + +//Robot setup + +//Here is the configuration of the robot +//These value can be changed + + +//Length from motors to cursor in millimeters(mm) when the origin is taken + +//Left motor to cursor +#define LENGTH_L1_PO 781 + +//Right motor to cursor +#define LENGTH_L2_PO 781 + +//Left motor to Right motor +#define LENGTH_MOTOR 1000 + +//Max velocity for normal mode +#define ALPHA 425000 + +//Number of counters for 1 millimeters +#define REFERENCE 2545 + + + + +*/ + + + + + + + +