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:
- 6:48eeb41188dd
- Parent:
- 5:48a258f6335e
- Child:
- 7:34be8b3a979c
diff -r 48a258f6335e -r 48eeb41188dd StateDefines/defines.h --- a/StateDefines/defines.h Thu Mar 21 08:56:53 2013 +0000 +++ b/StateDefines/defines.h Sat Mar 23 13:52:48 2013 +0000 @@ -9,11 +9,12 @@ // maxon motor #339282 EC 45 flat 30W and GEAR #define POLE_PAIRS 8u // Number of of pole pairs #define GEAR 1/11.6f // Gear on the motor 1/11.6f -#define PULSES_PER_STEP 6u // Pulses per step Hallsensor have 6 steps +#define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps // Physical Dimension of the car -#define WHEEL_RADIUS 0.043f // radius of the wheel, given in [m] -#define WHEEL_DISTANCE 0.18f // Distance of the wheel, given in [m] +#define WHEEL_RADIUS_LEFT 0.043f // radius of the left wheel, given in [m] +#define WHEEL_RADIUS_RIGHT 0.043f // radius of the left wheel, given in [m] +#define WHEEL_DISTANCE 0.1865f // Distance of the wheel, given in [m] // State Bits of the car #define STATE_STOP 1u // Bit0 = stop pressed @@ -37,8 +38,8 @@ #define GAIN 0.30f // Main Gain #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 K3 5.0f * GAIN // deafult 2.0f +#define MIN_DISTANCE_ERROR -0.02f // 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 @@ -64,7 +65,11 @@ #define COMP_Z_MAX -237.855042f // Maximum Z-Range not used in this side #define COMP_X_MIN -169.952530f // Minimum X-Range #define COMP_Y_MIN -247.647675f // Minimum Y-Range -#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side +#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side + +// Android Buffer Size for communication +#define OUTL 100 +#define INBL 100 /** * struct state