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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
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Diff: StateDefines/defines.h
- Revision:
- 11:775ebb69d5e1
- Parent:
- 10:09ddb819fdcb
--- a/StateDefines/defines.h Thu Apr 04 06:43:43 2013 +0000 +++ b/StateDefines/defines.h Fri Apr 05 10:58:42 2013 +0000 @@ -8,9 +8,10 @@ #include "mbed.h" /** - * Physical dimensions π + * @name Physical dimensions π; */ #define PI 3.141592654f +/*! @} */ /** * @name maxon motor #339282 EC 45 flat 30W @@ -18,17 +19,17 @@ */ /** -* Number of of pole pairs +* @brief Number of of pole pairs */ #define POLE_PAIRS 8u /** -* Gear on the motor 1/11.6f +* @brief Gear on the motor 1/11.6f */ #define GEAR 1/11.6f /** -* Pulses per electrical step form the Hallsensor, have 6 steps +* @brief Pulses per electrical step form the Hallsensor, have 6 steps */ #define PULSES_PER_STEP 6u /*! @} */ @@ -39,24 +40,34 @@ */ /** - * Value for the diffrerenz between left an right, given in [m] + * @brief Value for the diffrerenz between left an right, given in [m] */ #define WHEEL_RADIUS_DIFF 0.0000f /** - * radius of the left wheel, given in [m] + * @brief Radius of the left wheel, given in [m] */ #define WHEEL_RADIUS_LEFT 0.040280f /** - * radius of the left wheel, given in [m] + * @brief Radius of the left wheel, given in [m] */ #define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF) /** - * Distance of the wheel, given in [m] Greater --> turn more + * @brief Distance of the wheel, given in [m] Greater --> turn more */ #define WHEEL_DISTANCE 0.2000f + +/** + * @brief Sets the start X-point, given in [m] + */ +#define START_X_OFFSET -0.8f + +/** + * @brief Sets the start Y-point, given in [m] + */ +#define START_Y_OFFSET 0.8f /*! @} */ /** @@ -65,119 +76,191 @@ */ /** - * Bit0 = stop pressed + * @brief Bit0 = stop pressed */ #define STATE_STOP 1u /** - * Bit1 = Undervoltage battery - */ -#define STATE_UNDER 2u + * @brief Bit1 = Undervoltage battery + */ +#define STATE_UNDER 2u /** - * Bit2 = left ESCON in error state - */ + * @brief Bit2 = left ESCON in error state + */ #define STATE_LEFT 4u /** - * Bit3 = right ESCON in error state + * @brief Bit3 = right ESCON in error state */ #define STATE_RIGHT 8u -/*! @} */ +/*! @} */ + +/** + * @name ESCON Constands + * @{ + */ -// ESCON Constands -#define ESCON_SET_FACTOR 1500.0f // Speed Factor how set in the ESCON -#define ESCON_GET_FACTOR 1600.4f // Speed Factor how get in the ESCON +/** + * @brief Speed Factor how set in the ESCON Studio + */ +#define ESCON_SET_FACTOR 1500.0f + +/** + * @brief Speed Factor how get in the ESCON Studio + */ +#define ESCON_GET_FACTOR 1600.4f -//Error patch of the drift of Analog input and pwn output -#define SET_SPEED_PATCH (1+0.00262f) // patch factor of set speed -#define GET_SPEED_PATCH (1+0.0019f) // patch factor of get speed +/** + * @brief Error patch of the drift of Analog input and pwn output for set speed + */ +#define SET_SPEED_PATCH (1+0.00262f) -// Start Defintition -#define START_X_OFFSET -0.8f // Sets the start X-point [m] -#define START_Y_OFFSET 0.8f // Sets the start Y-point [m] +/** + * @brief Error patch of the drift of Analog input and pwn output for get speed + */ +#define GET_SPEED_PATCH (1+0.0019f) +/*! @} */ -// Maximum Aceeleration -#define ACCELERATION 0.25f // maximum translational acceleration, given in [m/s2] -#define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2] +/** + * @name position controller + * @{ + */ + +/** + * @brief Main Gain for k1, k2 and k3 + */ +#define GAIN 0.8f -// position controller -#define GAIN 0.8f // Main Gain +/** + * @brief Gain k1 default 1.0f + */ #define K1 0.8f * GAIN -#define K2 3.0f * GAIN // deafult 3.0f -#define K3 2.0f * GAIN // default 2.0f -#define MIN_DISTANCE_ERROR -0.005f // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m] + +/** + * @brief Gain k2 default 3.0f + */ +#define K2 3.0f * GAIN + +/** + * @brief Gain k3 default 2.0f + */ +#define K3 2.0f * GAIN -// 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 -#define BAT_MIN 17.5f // minium operate voltage [V] Battery Type: 1SP1P LG-18650 --> nominal voltage 3.6V --> 5 batterys ==> 5 * 3.5V = 17.5V +/** + * @brief 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 0.01f +/*! @} */ -// Frequenz for the Task -#define PERIOD_COMPASS 0.050f // 20Hz Rate for Compass HMC6352 -#define PERIOD_ROBOTCONTROL 0.001f // 1kHz Rate for Robot Control -#define PERIOD_STATE 0.001f // 1kHz Rate for State Objekt -#define PERIOD_ANDROID 0.1f // 10Hz Rate for State Objekt +/** + * @name Batterie control Battery Type: 1SP1P LG-18650 + * * nominal voltage 3.6V + * * 5 batterys ==> 5 * 3.5V = 17.5V + * @{ + */ -// Android Buffer Size for communication -#define OUTL 100 -#define INBL 100 +/** + * @brief Battery Multiplicator for the potential divider. + * + * R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 --> 3.3 * 6.555 = 21.6333333f + */ +#define BAT_MULTIPLICATOR 21.633333333f + +/** + * @brief minium operate voltage, given in [V] + */ +#define BAT_MIN 17.5f +/*! @} */ /** -* struct state -* structure containing system sensor data -**/ + * @name sampling rate for a Task Object + * @{ + */ + +/** + * @brief 1kHz Rate for Robot Control, given in [s] + */ +#define PERIOD_ROBOTCONTROL 0.001f + +/** + * @brief 1kHz Rate for State Objekt , given in [s] + */ +#define PERIOD_STATE 0.001f + +/** + * @brief 10Hz Rate for the Android communication , given in [s] + */ +#define PERIOD_ANDROID 0.1f +/*! @} */ + +/** + * @name Android Buffer Size for communication + * @{ + */ + +/** + * @brief Buffer Output + */ +#define OUTL 100 + +/** + * @brief Buffer Input + */ +#define INBL 100 +/*! @} */ + +/** + * @brief struct state + * structure containing system sensor data + */ typedef struct state { - /** millis Time [ms]*/ + /** @brief millis Time [ms]*/ int millis; - /** Battery voltage [V] */ + /** @brief Battery voltage [V] */ float voltageBattery; - /** Number of pulses left */ + /** @brief Number of pulses left */ int leftPulses; - /** Number of pulses right */ + /** @brief Number of pulses right */ int rightPulses; - /** Velocity left [m/s] */ + /** @brief Velocity left [m/s] */ float leftVelocity; - /** Velocity right [m/s] */ + /** @brief Velocity right [m/s] */ float rightVelocity; - /** Velocity of the car [m/s] */ + /** @brief Velocity of the car [m/s] */ float velocity; - /** Velocity rotation [°/s] */ + /** @brief Velocity rotation [°/s] */ float omega; - /** X-Axis from co-ordinate [m] */ + /** @brief X-Axis from co-ordinate [m] */ float xAxis; - /** Y-Axis from co-ordinate [m] */ + /** @brief Y-Axis from co-ordinate [m] */ float yAxis; - /** X-Axis Error [m] */ + /** @brief X-Axis Error [m] */ float xAxisError; - /** X-Axis Error [m] */ + /** @brief X-Axis Error [m] */ float yAxisError; - /** Angle Error [°] */ + /** @brief Angle Error [°] */ float angleError; - /** Angle from Car [°] */ + /** @brief Angle from Car [°] */ float angle; - /** Setpoint X-Axis [m] */ + /** @brief Setpoint X-Axis [m] */ float setxAxis; - /** Setpoint Y-Axis [m] */ + /** @brief Setpoint Y-Axis [m] */ float setyAxis; - /** Setpoint Angel [°] */ + /** @brief Setpoint Angel [°] */ float setAngle; - /** Setpoint velocitiy [m/s] */ + /** @brief Setpoint velocitiy [m/s] */ float setVelocity; - /** Setpoint rotation velocitiy [rad/s] */ + /** @brief Setpoint rotation velocitiy [rad/s] */ float setOmega; - /** Compass X-Axis */ - float compassxAxis; - /** Compass Y-Axis */ - float compassyAxis; - /** State of the Car **/ int state; - /** distance to Goal */ + /** @brief distance to Goal */ float rho; - /** theta to goal */ + /** @brief theta to goal */ float lamda; - /** theta from the goal */ + /** @brief theta from the goal */ float delta; } state_t; - -#endif \ No newline at end of file +#endif