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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
Fork of autonomous Robot Android by
defines.h
- Committer:
- chrigelburri
- Date:
- 2013-05-03
- Revision:
- 18:306d362d692b
- Parent:
- 16:b5d949136a21
- Child:
- 21:48248c5b8992
File content as of revision 18:306d362d692b:
#ifndef _DEFINES_H_ #define _DEFINES_H_ /*! \file defines.h \brief All defines for the roboter you can see here. */ #include "mbed.h" /** * @name Physical dimensions π; * @{ */ #define PI 3.141592654f /*! @} */ /** * @name maxon motor #339282 EC 45 flat 30W * @{ */ /** * @brief Number of of pole pairs */ #define POLE_PAIRS 8u /** * @brief Gear on the motor 1/11.6f */ #define GEAR 1/11.6f /** * @brief Pulses per electrical step form the Hallsensor, have 6 steps */ #define PULSES_PER_STEP 6u /*! @} */ /** * @name Physical Dimension of the car * @{ */ /** * @brief Value for the diffrerenz between left an right, given in [m] */ #define WHEEL_RADIUS_DIFF 0.0000f /** * @brief Radius of the left wheel, given in [m] */ #define WHEEL_RADIUS_LEFT 0.040280f /** * @brief Radius of the left wheel, given in [m] */ #define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF) /** * @brief Distance of the wheel, given in [m] Greater --> turn more */ #define WHEEL_DISTANCE 0.1873f // 0.1870f /** * @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 /*! @} */ /** * @name State Bits of the car * @{ */ /** * @brief Bit0 = stop pressed */ #define STATE_STOP 1u /** * @brief Bit1 = Undervoltage battery */ #define STATE_UNDER 2u /** * @brief Bit2 = left ESCON in error state */ #define STATE_LEFT 4u /** * @brief Bit3 = right ESCON in error state */ #define STATE_RIGHT 8u /*! @} */ /** * @name ESCON Constands * * @{ */ /** * @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 /** * @brief Error patch of the drift of Analog input and pwn output for set speed */ #define SET_SPEED_PATCH (1+0.00262f) /** * @brief Error patch of the drift of Analog input and pwn output for get speed */ #define GET_SPEED_PATCH (1+0.0019f) /*! @} */ /** * @name position controller * @{ */ /** * @brief Main Gain for k1, k2 and k3 */ #define GAIN 0.8f /** * @brief Gain k1 default 1.0f */ #define K1 0.8f * GAIN /** * @brief Gain k2 default 3.0f */ #define K2 3.0f * GAIN /** * @brief Gain k3 default 2.0f */ #define K3 2.0f * GAIN /** * @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 /*! @} */ /** * @name Batterie control Battery Type: 1SP1P LG-18650 * nominal voltage 3.6V * 5 batterys ==> 5 * 3.5V = 17.5V * @{ */ /** * @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 /*! @} */ /** * @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 0.5f /*! @} */ /** * @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 { /** @brief millis Time [ms]*/ int millis; /** @brief Battery voltage [V] */ float voltageBattery; /** @brief Number of pulses left */ int leftPulses; /** @brief Number of pulses right */ int rightPulses; /** @brief Velocity left [m/s] */ float leftVelocity; /** @brief Velocity right [m/s] */ float rightVelocity; /** @brief Velocity of the car [m/s] */ float velocity; /** @brief Velocity rotation [°/s] */ float omega; /** @brief X-Axis from co-ordinate [m] */ float xAxis; /** @brief Y-Axis from co-ordinate [m] */ float yAxis; /** @brief X-Axis Error [m] */ float xAxisError; /** @brief X-Axis Error [m] */ float yAxisError; /** @brief Angle Error [°] */ float angleError; /** @brief Angle from Car [°] */ float angle; /** @brief Setpoint X-Axis [m] */ float setxAxis; /** @brief Setpoint Y-Axis [m] */ float setyAxis; /** @brief Setpoint Angel [°] */ float setAngle; /** @brief Setpoint velocitiy [m/s] */ float setVelocity; /** @brief Setpoint rotation velocitiy [rad/s] */ float setOmega; /** @brief State of the car */ int state; /** @brief distance to Goal */ float rho; /** @brief theta to goal */ float lamda; /** @brief theta from the goal */ float delta; } state_t; #endif