File content as of revision 4:315716ef8178:

/*
 *
 *  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 Hearbeat_RateMS (1000/Hearbeat_RateHz) //hearbeat loop run rate in ms

#define imu_UpdateRateHz 200 // imu update rate in Hz
#define imu_UpdatePeriodMS (1000/imu_UpdateRateHz) // imu update rate in ms

#define motorControl_UpdateRateHz 100 // motorControl update rate in Hz
#define motorControl_UpdatePeriodMS (1000/motorControl_UpdateRateHz) // motorControl update rate in ms

#define odometry_UpdateRateHz 125 //odometry update rate in Hz
#define odometry_UpdatePeriodMS (1000/odometry_UpdateRateHz) //odometry update rate in ms

#define PrintLoop_RateHz 10 //print loop run rate in Hz
#define PrintLoop_PeriodMS (1000/PrintLoop_RateHz) //print loop run rate in ms

#define PurePursuit_UpdateRateHz 20//Pure pursuit update run rate in Hz
#define PurePursuit_UpdatePeriodMS (1000/PurePursuit_UpdateRateHz)//Pure pursuit update run rate in ms

#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 100 //Communications loop run rate in Hz
#define CommLoop_UpdatePeriodMS (1000/CommLoop_UpdateRateHz) //Communications loop run rate in ms

#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
//-------------------------------------------------------------------------------------------------


//** Drivetrain ********************************************************************************
//** Motor **
#define PWMfreq_khz 20


#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 *********************************************************************************
//** IMU **
#define Pose_MWindowSize 10
#define GyroAcc_MWindowSize 25

//* MPU9150 *
#define MPU6050_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized
#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)
//*   **   *

//* BNO055 *
#define BNO055_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized

//*   **   *

//-------------
#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 */