Diff: Constanta.h

Revision:

1:3cc942422d2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Constanta.h	Sat Feb 09 13:27:40 2019 +0000
@@ -0,0 +1,59 @@
+#ifndef CONSTANTA_H
+#define CONSTANTA_H
+
+#include "mbed.h"
+/*****************************
+        CONSTANTS
+ *****************************/
+// Robot Components
+const double PI = 3.141593;             //PI constanta
+const double LOCOMOTIONWHEEL = 0.05;    //Metres
+const double DRIBBLERWHEEL = 0.035;     //Metres
+// Locomotion Components
+const float KVFF = 1.0;                 //Velocity Feedforward for Locomotion
+const float KAFF = 1.0;                 //Acceleration Feedforward for Locomotion
+const float ACCT = 2.0;                 //Acceleration for robot Translation
+const float ACCR = 2.0;                 //Acceleration for robot rotation
+// Right Dribbler Components
+const float RK1FB = 1.0;                //Right Dribbler Pot to Omega feedback 
+const float RK2FB = 1.0;                //Right Dribbler Error to pwm feedback
+const float RKVFF = 1.0;                //Right Dribbler velocity feedforward
+const float RKXFF = 1.0;                //Right Dribbler x velocity feedforward
+const float RKYFF = 1.0;                //Right Dribbler y velocity feedforward
+const float RKTFF = 1.0;                //Right Dribbler w velocity feedforward
+const float RTARGET = 1.0;              //Right Dribbler potensio target
+// Left Dribbler Components
+const float LK1FB = 1.0;                //Left Dribbler Pot to Omega feedback 
+const float LK2FB = 1.0;                //Left Dribbler Error to pwm feedback
+const float LKVFF = 1.0;                //Left Dribbler velocity feedforward
+const float LKXFF = 1.0;                //Left Dribbler x velocity feedforward
+const float LKYFF = 1.0;                //Left Dribbler y velocity feedforward
+const float LKTFF = 1.0;                //Left Dribbler w velocity feedforward
+const float LTARGET = 1.0;              //Left Dribbler potensio target
+/*****************************
+        Global Variable
+ *****************************/
+//Compass Global Varible
+float compassValue = 0;                 //Compass value
+//Odometry global variable
+double locomotionRVel = 0;
+double locomotionLVel = 0;
+double locomotionBVel = 0;
+double locomotionRRot = 0;
+double locomotionLRot = 0;
+double locomotionBRot = 0;
+double locomotionRVtarget = 0;
+double locomotionLVtarget = 0;
+double locomotionBVtarget = 0;
+//Dribbler global variabel 
+double dribblerRVel = 0;
+double dribblerLVel = 0;
+double dribblerRRot = 0;
+double dribblerLRot = 0;    
+double dribblerRVtarget = 0;
+double dribblerLVtarget = 0;
+//Kicker global variable
+double kickPowerTarget = 0;
+float distance = 0;
+
+#endif
\ No newline at end of file