Diff: Configuration/config.h

Revision:

2:761e3c932ce0

Child:

4:315716ef8178

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Configuration/config.h	Mon Jan 18 06:00:43 2016 +0000
@@ -0,0 +1,93 @@
+/*
+ *
+ *  config.h Virgo v3 PCB AV22032015
+ *
+ */
+ 
+#ifndef VirgoConfig_H
+#define VirgoConfig_H
+
+//** General Functions ****************************************************************************
+#define PC_BAUDRATE 921600
+
+//-------------------------------------------------------------------------------------------------
+
+//** Function exectution rates ********************************************************************
+#define Hearbeat_RateHz 10 //hearbeat loop run rate in Hz
+#define imu_UpdateRateHz 200 // imu update rate in Hz
+#define motorControl_UpdateRateHz 100 // motorControl update rate in Hz
+#define odometry_UpdateRateHz 125 //odometry update rate in Hz
+#define PrintLoop_RateHz 10 //print loop run rate in Hz
+#define PurePursuit_UpdateRateHz 20//Pure pursuit update run rate in Hz
+#define WaypointCmd_UpdateRateHz 10 //waypoint commander run rate in Hz
+#define CommLoop_UpdateRateHz 100 //Communications loop run rate in Hz
+#define nRfDefault_uploadRateMS 200 //default upload rate in ms for nRF wireless comm
+#define camera_OnRateMinutes 15 //default camera switch on frequency in minutes
+#define camera_CaptureTimeS 30 //default camera capture time in seconds
+//-------------------------------------------------------------------------------------------------
+
+//** IMU MPU9150 **********************************************************************************
+#define IMU_FIFO_RATE_DIVIDER 0x01 // FIFO rate = 200Hz / (1 + this value), range 0x00 to 0x09. Here, 0x01 implies 100Hz.
+#define IMU_SAMPLE_RATE_DIVIDER 1 // Sample rate = 1kHz / (1 + this value), Here, 1 implies 500Hz.
+#define MPU6050_GYRO_FS MPU6050_GYRO_FS_2000 // measuring range of gyroscope (±n deg/s)
+#define MPU6050_ACCEL_FS MPU6050_ACCEL_FS_2 // measuring range of acceleration sensor (±n g)
+#define MPU6050_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized
+
+
+
+#define GyroV_MWindowSize 25
+
+//-------------------------------------------------------------------------------------------------
+
+//** Motor Control ********************************************************************************
+#define motor_LimitRPM_min  -100.0
+#define motor_LimitRPM_max  300.0
+
+#define motor_Acc_limit     200.0
+
+#define PIDFf_kP    0.500
+#define PIDFf_kI    0.900
+#define PIDFf_kD    0.010
+#define PIDFf_kFf   1.000
+
+#define PIDFf_TermsLimit_min    -0.3
+#define PIDFf_TermsLimit_max    0.9
+
+#define control_SummLimit_min   -0.5
+#define control_SummLimit_max   1.0
+
+#define pid_MWindowSize 10
+
+//-------------------------------------------------------------------------------------------------
+
+
+//** Encoder **************************************************************************************
+#define encoder_resolution 104
+#define encoder_MWindowSize 12
+//-------------------------------------------------------------------------------------------------
+
+//** Localization *********************************************************************************
+#define wheel_dia 10 //wheel dia in mm
+
+//-------------------------------------------------------------------------------------------------
+
+
+//** Drivetrain commander *************************************************************************
+#define track_width 25 //track width in mm
+#define driveTrain_minV 100 //min velocity of individual drive in mm/s
+#define driveTrain_maxV 200 //max velocity of individual drive in mm/s
+
+//-------------------------------------------------------------------------------------------------
+
+//** Communications *******************************************************************************
+#define virgo3_robot_address 01 //address of this robot node
+#define virgo3_network_channel 90 //communications channel number
+
+//-------------------------------------------------------------------------------------------------
+
+
+//** HansonController *****************************************************************************
+#define wheelV_MWindowSize 25 //wheel velocity moving window filter size, customized for Pitch controller
+
+//-------------------------------------------------------------------------------------------------
+#endif /* VirgoConfig_H */
\ No newline at end of file