Diff: Configuration/config.h

Revision:

10:ea4b90be68dc

Parent:

8:b4da70727fd4

Child:

11:49344285c82a

--- a/Configuration/config.h	Tue Apr 12 08:08:30 2016 +0000
+++ b/Configuration/config.h	Sat Apr 23 10:29:24 2016 +0000
@@ -34,7 +34,7 @@
 #define WaypointCmd_UpdateRateHz 10 //waypoint commander run rate in Hz
 #define WaypointCmd_UpdatePeriodMS (1000/WaypointCmd_UpdateRateHz) //waypoint commander run rate in ms
 
-#define CommLoop_UpdateRateHz 2 //Communications loop run rate in Hz
+#define CommLoop_UpdateRateHz 15 //Communications loop run rate in Hz
 #define CommLoop_UpdatePeriodMS (1000/CommLoop_UpdateRateHz) //Communications loop run rate in ms
 
 #define CommPump_UpdateRateHz 100 //nRF network communications pump run rate in Hz
@@ -44,6 +44,9 @@
 
 #define camera_cycleMinutes 15 //default camera switch on frequency in minutes
 #define camera_CaptureTimeS 30 //default camera capture time in seconds
+
+#define DataRecorder_RateHz 100 //data recorder loop run rate in Hz
+#define DataRecorder_PeriodMS (1000/DataRecorder_RateHz) //data recorder loop run rate in ms
 //-------------------------------------------------------------------------------------------------
 
 
@@ -51,15 +54,15 @@
 //** Motor **
 #define PWMfreq_khz 20
 
-#define PIDFf_kP    1.5
-#define PIDFf_kI    9.5
-#define PIDFf_kD    0.5
-#define PIDFf_kFf   1.5
+#define PIDFf_kP    0.50
+#define PIDFf_kI    1.50
+#define PIDFf_kD    0.20
+#define PIDFf_kFf   2.50
 
-#define PIDFf_lim_P    0.3
-#define PIDFf_lim_I    0.5
-#define PIDFf_lim_D    0.2
-#define PIDFf_lim_Ff   0.5
+#define PIDFf_lim_P    0.05
+#define PIDFf_lim_I    0.30
+#define PIDFf_lim_D    0.05
+#define PIDFf_lim_Ff   0.60
 
 #define PIDFf_range_min     -1.0
 #define PIDFf_range_max     1.0
@@ -99,29 +102,59 @@
 //*   **   *
 
 //* Localization *
-#define wheel_dia 10 //wheel dia in mm
+#define wheel_dia 10*1.1 //wheel dia in mm * effective hypocyclic gear ratio
 #define track_width 25 //wheel dia in mm
 
 
 //-------------------------------------------------------------------------------------------------
 
 
-//** Drivetrain commander *************************************************************************
+//** PurePursuit controller *************************************************************************
 #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
+#define driveTrain_minV 130 //min velocity of individual drive in mm/s
+#define driveTrain_maxV 230 //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
+#define virgo3_network_channel 74 //communications channel number
 
 //-------------------------------------------------------------------------------------------------
 
 
-//** HansonController *****************************************************************************
+//** Attitude Controller **************************************************************************
 #define wheelV_MWindowSize 25 //wheel velocity moving window filter size, customized for Pitch controller
 
+//** HansonController **
+
+
+//** PID pitch controller **
+// This PID controller adds/subtracts a percentage of command velocity based on the variations of
+// the pitch angle while controlling the pitch angle to a setpoint angle.
+
+#define AttPIDFf_kP    500.00
+#define AttPIDFf_kI    10.00
+#define AttPIDFf_kD    1.00
+#define AttPIDFf_kFf   0.00
+
+#define AttPIDFf_lim_P  0.3
+#define AttPIDFf_lim_I  0.4
+#define AttPIDFf_lim_D  0.3
+#define AttPIDFf_lim_Ff 0.0
+
+#define AttPIDFf_range_min  -1.0
+#define AttPIDFf_range_max   1.0
+
+
 //-------------------------------------------------------------------------------------------------
+
+//** Data Recorder ********************************************************************************
+#define max_coloumns 16
+#define max_rows 1200
+#define max_RAM 16*1024 //max permissible ram usage in kB
+
+//-------------------------------------------------------------------------------------------------
+
+
 #endif /* VirgoConfig_H */
\ No newline at end of file