assert1
Dependencies: mbed X_NUCLEO_IHM02A1
reglages.h@2:977799d72329, 2019-02-23 (annotated)
- Committer:
- Pierr
- Date:
- Sat Feb 23 16:30:08 2019 +0000
- Revision:
- 2:977799d72329
- Parent:
- 0:6ca63d45f0ee
- Child:
- 3:06cbe2f6c494
A
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Pierr | 2:977799d72329 | 1 | //définition du debug |
Pierr | 2:977799d72329 | 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 |
Pierr | 2:977799d72329 | 10 | #define ECART_ROUE 30000 // 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 |