Diff: parameters.h

Revision:

10:fb3542f3c5e6

Parent:

9:0f63d4cb5613

diff -r 0f63d4cb5613 -r fb3542f3c5e6 parameters.h
--- a/parameters.h	Fri May 18 09:03:25 2018 +0000
+++ b/parameters.h	Mon May 28 14:18:32 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
+#define LENGTH_L1_PO 740
+
 //Right motor to cursor
-#define LENGTH_L2_PO 781
+#define LENGTH_L2_PO 740
+
 //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 740
+
+//Right motor to cursor
+#define LENGTH_L2_PO 740
+
+//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
+
+
+
+
+*/
+
+
+
+
+
+
+
+