Diff: Constanta.h

Revision:

3:0521855e7337

Parent:

2:830d3c808679

--- a/Constanta.h	Sat Mar 23 09:48:27 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-#ifndef CONSTANTA_H
-#define CONSTANTA_H
-
-#include "mbed.h"
-/*****************************
-        CONSTANTS
- *****************************/
-// Robot Components
-const double PI = 3.141593;             //PI constanta
-const double RADTODEG = 57.2957795131;  //Radian to Deg const
-const double LOCOMOTIONWHEEL = 0.03;    //Metres
-const double DRIBBLERWHEEL = 0.035;     //Metres
-// Right Dribbler Components
-const float RK1FB = 0.1;                //Right Dribbler Pot to Omega feedback 
-const float RK2FB = 0.35;                //Right Dribbler Error to pwm feedback
-
-const float RKVFF = 0.087;                //Right Dribbler velocity feedforward
-const float RKTFF = 0.5;                //Right Dribbler w velocity feedforward
-
-const float RTARGET = 10.0;              //Right Dribbler potensio target
-// Left Dribbler Components
-const float LK1FB = 0.1;                //Left Dribbler Pot to Omega feedback 
-const float LK2FB = 0.35;                //Left Dribbler Error to pwm feedback
-
-const float LKVFF = 0.087;                //Left Dribbler velocity feedforward
-const float LKTFF = 0.5;                //Left Dribbler w velocity feedforward
-
-const float LTARGET = 13.0;              //Left Dribbler potensio target
-/*****************************
-        Global Variable
- *****************************/
-//Compass Global Varible
-float compass_value = 0;                 //Compass value
-//Odometry global variable
-double locomotion_R_vel = 0;
-double locomotion_L_vel = 0;
-double locomotion_B_vel = 0;
-double locomotion_R_rot = 0;
-double locomotion_L_rot = 0;
-double locomotion_B_rot = 0;
-double locomotion_R_vtarget = 0;
-double locomotion_L_vtarget = 0;
-double locomotion_B_vtarget = 0;
-//Dribbler global variabel 
-double dribbler_R_vel = 0;
-double dribbler_L_vel = 0;
-double dribbler_R_rot = 0;
-double dribbler_L_rot = 0;    
-double dribbler_R_vtarget = 0;
-double dribbler_L_vtarget = 0;
-//Kicker global variable
-double kick_power_target = 0;
-float distance = 0;
-
-//For initiate encoder value
-float cur_locomotion_R = 0;
-float cur_locomotion_L = 0;
-float cur_locomotion_B = 0;
-float cur_dribbler_R = 0;
-float cur_dribbler_L = 0;
-//Potensio value
-float cur_pot_L = 0;
-float cur_pot_R = 0;
-//feedforward transition
-double target_vel_L = 0;
-double target_vel_R = 0;
-double prev_target_vel_L = 0;
-double prev_target_vel_R = 0;
-//pwm value
-double locomotion_R_target_rate = 0;
-double locomotion_L_target_rate = 0;
-double locomotion_B_target_rate = 0;
-double dribbler_L_target_rate = 0;
-double dribbler_R_target_rate = 0;
-
-//Odometry
-float theta_com;
-float theta;
-float theta_prev;
-float x;
-float x_prev;
-float y;
-float y_prev;
-
-float vx;
-float vy;
-float w;
-
-#endif
\ No newline at end of file