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
Diff: Configuration/config.h
- Revision:
- 4:315716ef8178
- Parent:
- 2:761e3c932ce0
- Child:
- 5:099cb2e76c7d
diff -r d714e97266a3 -r 315716ef8178 Configuration/config.h --- a/Configuration/config.h Mon Jan 18 09:07:39 2016 +0000 +++ b/Configuration/config.h Wed Jan 20 04:01:37 2016 +0000 @@ -14,32 +14,40 @@ //** 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 //------------------------------------------------------------------------------------------------- -//** 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 + +//** Drivetrain ******************************************************************************** +//** Motor ** +#define PWMfreq_khz 20 - -#define GyroV_MWindowSize 25 - -//------------------------------------------------------------------------------------------------- - -//** Motor Control ******************************************************************************** #define motor_LimitRPM_min -100.0 #define motor_LimitRPM_max 300.0 @@ -57,16 +65,36 @@ #define control_SummLimit_max 1.0 #define pid_MWindowSize 10 +//------------- +//** Encoder ** +#define encoder_resolution 104 +#define encoder_MWindowSize 12 +//------------- //------------------------------------------------------------------------------------------------- -//** 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 //-------------------------------------------------------------------------------------------------