Corentin Courtot
asser
Dependencies: mbed X_NUCLEO_IHM02A1
reglages.h@0:6ca63d45f0ee, 2018-12-11 (annotated)
- Committer:
- Coconara
- Date:
- Tue Dec 11 19:12:55 2018 +0000
- Revision:
- 0:6ca63d45f0ee
- Child:
- 2:5764f89a27f6
asser
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Coconara | 0:6ca63d45f0ee | 1 | //position initiale du robot |
| Coconara | 0:6ca63d45f0ee | 2 | #define X_INIT 0 |
| Coconara | 0:6ca63d45f0ee | 3 | #define Y_INIT 0 |
| Coconara | 0:6ca63d45f0ee | 4 | #define THETA_INIT 0 |
| Coconara | 0:6ca63d45f0ee | 5 | |
| Coconara | 0:6ca63d45f0ee | 6 | //propre a chaque robot |
| Coconara | 0:6ca63d45f0ee | 7 | #define ECART_ROUE 31800 // a augmenter si l'angle reel est plus grand que l'angle vise |
| Coconara | 0:6ca63d45f0ee | 8 | #define DIAMETRE_ROUE 8410 |
| Coconara | 0:6ca63d45f0ee | 9 | #define DISTANCE_PAR_TICK_D 100000/11600 |
| Coconara | 0:6ca63d45f0ee | 10 | #define DISTANCE_PAR_TICK_G 100000/11600 |
| Coconara | 0:6ca63d45f0ee | 11 | |
| Coconara | 0:6ca63d45f0ee | 12 | //calibrage |
| Coconara | 0:6ca63d45f0ee | 13 | #define TICK_PAR_MM 11 // nombre de ticks par mm (tick/mm) |
| Coconara | 0:6ca63d45f0ee | 14 | #define TICK_PAR_TOUR 8109 //nombre de ticks par tour complet du robot sur lui-même (tick/tour) |
| Coconara | 0:6ca63d45f0ee | 15 | |
| Coconara | 0:6ca63d45f0ee | 16 | //correction mécanique |
| Coconara | 0:6ca63d45f0ee | 17 | #define COEFF_CODEUR_D 1 |
| Coconara | 0:6ca63d45f0ee | 18 | #define COEFF_CODEUR_G 1.00 //1.07 |
| Coconara | 0:6ca63d45f0ee | 19 | #define COEFF_MOTEUR_D 1.20 //1.085 |
| Coconara | 0:6ca63d45f0ee | 20 | #define COEFF_MOTEUR_G 1 //1.10 |
| Coconara | 0:6ca63d45f0ee | 21 | |
| Coconara | 0:6ca63d45f0ee | 22 | //contraintes mecaniques |
| Coconara | 0:6ca63d45f0ee | 23 | #define PWM_MAX 900 //PWM maximal, à cette valeur le robot est à sa vitesse maximale admissible |
| Coconara | 0:6ca63d45f0ee | 24 |