Implement new controller
Dependencies: mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo
Fork of Orion_newPCB_test by
Configuration/config.h@8:b4da70727fd4, 2016-02-22 (annotated)
- Committer:
- akashvibhute
- Date:
- Mon Feb 22 02:00:34 2016 +0000
- Revision:
- 8:b4da70727fd4
- Parent:
- 6:690db8b5030b
- Child:
- 10:ea4b90be68dc
working everything, including nrf!; some bug exists though, causing intermittant data corruption...
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 2:761e3c932ce0 | 1 | /* |
akashvibhute | 2:761e3c932ce0 | 2 | * |
akashvibhute | 2:761e3c932ce0 | 3 | * config.h Virgo v3 PCB AV22032015 |
akashvibhute | 2:761e3c932ce0 | 4 | * |
akashvibhute | 2:761e3c932ce0 | 5 | */ |
akashvibhute | 2:761e3c932ce0 | 6 | |
akashvibhute | 2:761e3c932ce0 | 7 | #ifndef VirgoConfig_H |
akashvibhute | 2:761e3c932ce0 | 8 | #define VirgoConfig_H |
akashvibhute | 2:761e3c932ce0 | 9 | |
akashvibhute | 2:761e3c932ce0 | 10 | //** General Functions **************************************************************************** |
akashvibhute | 2:761e3c932ce0 | 11 | #define PC_BAUDRATE 921600 |
akashvibhute | 2:761e3c932ce0 | 12 | |
akashvibhute | 2:761e3c932ce0 | 13 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 14 | |
akashvibhute | 2:761e3c932ce0 | 15 | //** Function exectution rates ******************************************************************** |
akashvibhute | 6:690db8b5030b | 16 | #define Hearbeat_RateHz 1 //hearbeat loop run rate in Hz |
akashvibhute | 4:315716ef8178 | 17 | #define Hearbeat_RateMS (1000/Hearbeat_RateHz) //hearbeat loop run rate in ms |
akashvibhute | 4:315716ef8178 | 18 | |
akashvibhute | 2:761e3c932ce0 | 19 | #define imu_UpdateRateHz 200 // imu update rate in Hz |
akashvibhute | 4:315716ef8178 | 20 | #define imu_UpdatePeriodMS (1000/imu_UpdateRateHz) // imu update rate in ms |
akashvibhute | 4:315716ef8178 | 21 | |
akashvibhute | 2:761e3c932ce0 | 22 | #define motorControl_UpdateRateHz 100 // motorControl update rate in Hz |
akashvibhute | 4:315716ef8178 | 23 | #define motorControl_UpdatePeriodMS (1000/motorControl_UpdateRateHz) // motorControl update rate in ms |
akashvibhute | 4:315716ef8178 | 24 | |
akashvibhute | 2:761e3c932ce0 | 25 | #define odometry_UpdateRateHz 125 //odometry update rate in Hz |
akashvibhute | 4:315716ef8178 | 26 | #define odometry_UpdatePeriodMS (1000/odometry_UpdateRateHz) //odometry update rate in ms |
akashvibhute | 4:315716ef8178 | 27 | |
akashvibhute | 6:690db8b5030b | 28 | #define PrintLoop_RateHz 100 //print loop run rate in Hz |
akashvibhute | 4:315716ef8178 | 29 | #define PrintLoop_PeriodMS (1000/PrintLoop_RateHz) //print loop run rate in ms |
akashvibhute | 4:315716ef8178 | 30 | |
akashvibhute | 2:761e3c932ce0 | 31 | #define PurePursuit_UpdateRateHz 20//Pure pursuit update run rate in Hz |
akashvibhute | 4:315716ef8178 | 32 | #define PurePursuit_UpdatePeriodMS (1000/PurePursuit_UpdateRateHz)//Pure pursuit update run rate in ms |
akashvibhute | 4:315716ef8178 | 33 | |
akashvibhute | 2:761e3c932ce0 | 34 | #define WaypointCmd_UpdateRateHz 10 //waypoint commander run rate in Hz |
akashvibhute | 4:315716ef8178 | 35 | #define WaypointCmd_UpdatePeriodMS (1000/WaypointCmd_UpdateRateHz) //waypoint commander run rate in ms |
akashvibhute | 4:315716ef8178 | 36 | |
akashvibhute | 8:b4da70727fd4 | 37 | #define CommLoop_UpdateRateHz 2 //Communications loop run rate in Hz |
akashvibhute | 4:315716ef8178 | 38 | #define CommLoop_UpdatePeriodMS (1000/CommLoop_UpdateRateHz) //Communications loop run rate in ms |
akashvibhute | 4:315716ef8178 | 39 | |
akashvibhute | 8:b4da70727fd4 | 40 | #define CommPump_UpdateRateHz 100 //nRF network communications pump run rate in Hz |
akashvibhute | 5:099cb2e76c7d | 41 | #define CommPump_UpdatePeriodMS (1000/CommPump_UpdateRateHz) //nRF network communications pump run rate in ms |
akashvibhute | 5:099cb2e76c7d | 42 | |
akashvibhute | 2:761e3c932ce0 | 43 | #define nRfDefault_uploadRateMS 200 //default upload rate in ms for nRF wireless comm |
akashvibhute | 5:099cb2e76c7d | 44 | |
akashvibhute | 5:099cb2e76c7d | 45 | #define camera_cycleMinutes 15 //default camera switch on frequency in minutes |
akashvibhute | 2:761e3c932ce0 | 46 | #define camera_CaptureTimeS 30 //default camera capture time in seconds |
akashvibhute | 2:761e3c932ce0 | 47 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 48 | |
akashvibhute | 4:315716ef8178 | 49 | |
akashvibhute | 4:315716ef8178 | 50 | //** Drivetrain ******************************************************************************** |
akashvibhute | 4:315716ef8178 | 51 | //** Motor ** |
akashvibhute | 4:315716ef8178 | 52 | #define PWMfreq_khz 20 |
akashvibhute | 2:761e3c932ce0 | 53 | |
akashvibhute | 6:690db8b5030b | 54 | #define PIDFf_kP 1.5 |
akashvibhute | 6:690db8b5030b | 55 | #define PIDFf_kI 9.5 |
akashvibhute | 6:690db8b5030b | 56 | #define PIDFf_kD 0.5 |
akashvibhute | 6:690db8b5030b | 57 | #define PIDFf_kFf 1.5 |
akashvibhute | 2:761e3c932ce0 | 58 | |
akashvibhute | 6:690db8b5030b | 59 | #define PIDFf_lim_P 0.3 |
akashvibhute | 6:690db8b5030b | 60 | #define PIDFf_lim_I 0.5 |
akashvibhute | 6:690db8b5030b | 61 | #define PIDFf_lim_D 0.2 |
akashvibhute | 6:690db8b5030b | 62 | #define PIDFf_lim_Ff 0.5 |
akashvibhute | 2:761e3c932ce0 | 63 | |
akashvibhute | 6:690db8b5030b | 64 | #define PIDFf_range_min -1.0 |
akashvibhute | 6:690db8b5030b | 65 | #define PIDFf_range_max 1.0 |
akashvibhute | 2:761e3c932ce0 | 66 | |
akashvibhute | 2:761e3c932ce0 | 67 | #define pid_MWindowSize 10 |
akashvibhute | 6:690db8b5030b | 68 | |
akashvibhute | 6:690db8b5030b | 69 | //#define motor_LimitRPM_min -100.0 |
akashvibhute | 6:690db8b5030b | 70 | //#define motor_LimitRPM_max 300.0 |
akashvibhute | 6:690db8b5030b | 71 | |
akashvibhute | 6:690db8b5030b | 72 | //#define motor_Acc_limit 200.0 |
akashvibhute | 4:315716ef8178 | 73 | //------------- |
akashvibhute | 2:761e3c932ce0 | 74 | |
akashvibhute | 4:315716ef8178 | 75 | //** Encoder ** |
akashvibhute | 4:315716ef8178 | 76 | #define encoder_resolution 104 |
akashvibhute | 4:315716ef8178 | 77 | #define encoder_MWindowSize 12 |
akashvibhute | 4:315716ef8178 | 78 | //------------- |
akashvibhute | 2:761e3c932ce0 | 79 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 80 | |
akashvibhute | 2:761e3c932ce0 | 81 | |
akashvibhute | 4:315716ef8178 | 82 | |
akashvibhute | 2:761e3c932ce0 | 83 | //** Localization ********************************************************************************* |
akashvibhute | 4:315716ef8178 | 84 | //** IMU ** |
akashvibhute | 4:315716ef8178 | 85 | #define Pose_MWindowSize 10 |
akashvibhute | 4:315716ef8178 | 86 | #define GyroAcc_MWindowSize 25 |
akashvibhute | 4:315716ef8178 | 87 | |
akashvibhute | 4:315716ef8178 | 88 | //* MPU9150 * |
akashvibhute | 4:315716ef8178 | 89 | #define MPU6050_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized |
akashvibhute | 4:315716ef8178 | 90 | #define IMU_FIFO_RATE_DIVIDER 0x01 // FIFO rate = 200Hz / (1 + this value), range 0x00 to 0x09. Here, 0x01 implies 100Hz. |
akashvibhute | 4:315716ef8178 | 91 | #define IMU_SAMPLE_RATE_DIVIDER 1 // Sample rate = 1kHz / (1 + this value), Here, 1 implies 500Hz. |
akashvibhute | 4:315716ef8178 | 92 | #define MPU6050_GYRO_FS MPU6050_GYRO_FS_2000 // measuring range of gyroscope (±n deg/s) |
akashvibhute | 4:315716ef8178 | 93 | #define MPU6050_ACCEL_FS MPU6050_ACCEL_FS_2 // measuring range of acceleration sensor (±n g) |
akashvibhute | 4:315716ef8178 | 94 | //* ** * |
akashvibhute | 4:315716ef8178 | 95 | |
akashvibhute | 4:315716ef8178 | 96 | //* BNO055 * |
akashvibhute | 4:315716ef8178 | 97 | #define BNO055_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized |
akashvibhute | 4:315716ef8178 | 98 | |
akashvibhute | 4:315716ef8178 | 99 | //* ** * |
akashvibhute | 4:315716ef8178 | 100 | |
akashvibhute | 5:099cb2e76c7d | 101 | //* Localization * |
akashvibhute | 2:761e3c932ce0 | 102 | #define wheel_dia 10 //wheel dia in mm |
akashvibhute | 5:099cb2e76c7d | 103 | #define track_width 25 //wheel dia in mm |
akashvibhute | 5:099cb2e76c7d | 104 | |
akashvibhute | 2:761e3c932ce0 | 105 | |
akashvibhute | 2:761e3c932ce0 | 106 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 107 | |
akashvibhute | 2:761e3c932ce0 | 108 | |
akashvibhute | 2:761e3c932ce0 | 109 | //** Drivetrain commander ************************************************************************* |
akashvibhute | 2:761e3c932ce0 | 110 | #define track_width 25 //track width in mm |
akashvibhute | 2:761e3c932ce0 | 111 | #define driveTrain_minV 100 //min velocity of individual drive in mm/s |
akashvibhute | 2:761e3c932ce0 | 112 | #define driveTrain_maxV 200 //max velocity of individual drive in mm/s |
akashvibhute | 2:761e3c932ce0 | 113 | |
akashvibhute | 2:761e3c932ce0 | 114 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 115 | |
akashvibhute | 2:761e3c932ce0 | 116 | //** Communications ******************************************************************************* |
akashvibhute | 2:761e3c932ce0 | 117 | #define virgo3_robot_address 01 //address of this robot node |
akashvibhute | 2:761e3c932ce0 | 118 | #define virgo3_network_channel 90 //communications channel number |
akashvibhute | 2:761e3c932ce0 | 119 | |
akashvibhute | 2:761e3c932ce0 | 120 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 121 | |
akashvibhute | 2:761e3c932ce0 | 122 | |
akashvibhute | 2:761e3c932ce0 | 123 | //** HansonController ***************************************************************************** |
akashvibhute | 2:761e3c932ce0 | 124 | #define wheelV_MWindowSize 25 //wheel velocity moving window filter size, customized for Pitch controller |
akashvibhute | 2:761e3c932ce0 | 125 | |
akashvibhute | 2:761e3c932ce0 | 126 | //------------------------------------------------------------------------------------------------- |
akashvibhute | 2:761e3c932ce0 | 127 | #endif /* VirgoConfig_H */ |