Jimmy Maingam / Mbed 2 deprecated odometrieDecembre

assert1

Dependencies:   mbed X_NUCLEO_IHM02A1

reglages.h@3:06cbe2f6c494, 2019-03-30 (annotated)

Committer:
JimmyAREM
Date:
Sat Mar 30 15:10:23 2019 +0000
Revision:
3:06cbe2f6c494
Parent:
2:977799d72329 
odo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Pierr 2:977799d72329 1 //définition du debug
JimmyAREM 3:06cbe2f6c494 2 #define DEBUG_POSITION
Pierr 2:977799d72329 3
Coconara 0:6ca63d45f0ee 4 //position initiale du robot
Coconara 0:6ca63d45f0ee 5 #define X_INIT 0
Coconara 0:6ca63d45f0ee 6 #define Y_INIT 0
Coconara 0:6ca63d45f0ee 7 #define THETA_INIT 0
Coconara 0:6ca63d45f0ee 8
Coconara 0:6ca63d45f0ee 9 //propre a chaque robot
JimmyAREM 3:06cbe2f6c494 10 #define ECART_ROUE 22800 // a augmenter si l'angle reel est plus grand que l'angle vise
Coconara 0:6ca63d45f0ee 11 #define DIAMETRE_ROUE 8410
Coconara 0:6ca63d45f0ee 12 #define DISTANCE_PAR_TICK_D 100000/11600
Coconara 0:6ca63d45f0ee 13 #define DISTANCE_PAR_TICK_G 100000/11600
Coconara 0:6ca63d45f0ee 14
Coconara 0:6ca63d45f0ee 15 //calibrage
Coconara 0:6ca63d45f0ee 16 #define TICK_PAR_MM 11 // nombre de ticks par mm (tick/mm)
Coconara 0:6ca63d45f0ee 17 #define TICK_PAR_TOUR 8109 //nombre de ticks par tour complet du robot sur lui-même (tick/tour)
Coconara 0:6ca63d45f0ee 18
Coconara 0:6ca63d45f0ee 19 //correction mécanique
Coconara 0:6ca63d45f0ee 20 #define COEFF_CODEUR_D 1
Coconara 0:6ca63d45f0ee 21 #define COEFF_CODEUR_G 1.00 //1.07
Coconara 0:6ca63d45f0ee 22 #define COEFF_MOTEUR_D 1.20 //1.085
Coconara 0:6ca63d45f0ee 23 #define COEFF_MOTEUR_G 1 //1.10
Coconara 0:6ca63d45f0ee 24
Coconara 0:6ca63d45f0ee 25 //contraintes mecaniques
Coconara 0:6ca63d45f0ee 26 #define PWM_MAX 900 //PWM maximal, à cette valeur le robot est à sa vitesse maximale admissible
Pierr 2:977799d72329 27 #define PWM_MIN 0 //PWM minimal
Coconara 0:6ca63d45f0ee 28