Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: StateDefines/defines.h
- Revision:
- 5:48a258f6335e
- Parent:
- 4:3a97923ff2d4
- Child:
- 6:48eeb41188dd
--- a/StateDefines/defines.h Fri Mar 08 09:54:34 2013 +0000 +++ b/StateDefines/defines.h Thu Mar 21 08:56:53 2013 +0000 @@ -8,7 +8,7 @@ // maxon motor #339282 EC 45 flat 30W and GEAR #define POLE_PAIRS 8u // Number of of pole pairs -#define GEAR 1.0f // Gear on the motor +#define GEAR 1/11.6f // Gear on the motor 1/11.6f #define PULSES_PER_STEP 6u // Pulses per step Hallsensor have 6 steps // Physical Dimension of the car @@ -22,8 +22,8 @@ #define STATE_RIGHT 8u // Bit3 = right ESCON in error state // ESCON Constands -#define ESCON_SET_FACTOR 100.0f // Speed Factor how set in the ESCON -#define ESCON_GET_FACTOR 100.0f // Speed Factor how get in the ESCON +#define ESCON_SET_FACTOR 1200.0f // Speed Factor how set in the ESCON +#define ESCON_GET_FACTOR 1400.0f // Speed Factor how get in the ESCON // Start Defintition #define START_X_OFFSET -0.8f // Sets the start X-point [m] @@ -38,7 +38,7 @@ #define K1 1.0f * GAIN #define K2 3.0f * GAIN #define K3 2.0f * GAIN -#define MIN_DISTANCE_ERROR 0.03 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m] +#define MIN_DISTANCE_ERROR 0.03 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m] // LiPo Batterie #define BAT_MULTIPLICATOR 21.633333333f // R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 ---> 3.3 * 6.555 = 21.6333333f