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:
- 1:6cd533a712c6
- Parent:
- 0:31f7be68e52d
- Child:
- 2:d8e1613dc38b
diff -r 31f7be68e52d -r 6cd533a712c6 StateDefines/defines.h --- a/StateDefines/defines.h Thu Feb 07 17:43:19 2013 +0000 +++ b/StateDefines/defines.h Sat Mar 02 09:39:34 2013 +0000 @@ -13,7 +13,7 @@ // Physical Dimension of the car #define WHEEL_RADIUS 0.042f // radius of the wheel, given in [m] -#define WHEEL_DISTANCE 0.176f // Distance of the wheel, given in [m] +#define WHEEL_DISTANCE 0.18f // Distance of the wheel, given in [m] // State Bits of the car #define STATE_STOP 1u // Bit0 = stop pressed @@ -31,7 +31,15 @@ // 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 +#define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2] + +// Gains of the position controller +#define GAIN 0.2f +#define K1 1.0f * GAIN +#define K2 3.0f * GAIN +#define K3 2.0f * GAIN + +#define MIN_DISTANCE_ERROR 0.1 // 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