defines.h

00001 #ifndef _DEFINES_H_
00002 #define _DEFINES_H_
00003 
00004 /*! \file defines.h
00005 \brief All defines for the roboter you can see here.
00006 */
00007 #include "mbed.h"
00008 
00009 /**
00010  * @name Physical dimensions π;
00011  * @{
00012  */
00013 #define PI                    3.141592654f
00014 /*! @} */
00015 
00016 /**
00017  * @name maxon motor #339282 EC 45 flat 30W
00018  * @{
00019  */
00020 
00021 /**
00022 * @brief Number of of pole pairs
00023 */
00024 #define POLE_PAIRS            8u
00025 
00026 /**
00027 * @brief Gear on the motor 1/11.6f
00028 */
00029 #define GEAR                  1/11.6f
00030 
00031 /**
00032 * @brief Pulses per electrical step form the Hallsensor, have 6 steps
00033 */
00034 #define PULSES_PER_STEP       6u
00035 /*! @} */
00036 
00037 /**
00038  * @name Physical Dimension of the car
00039  * @{
00040  */
00041 
00042 /**
00043  * @brief Value for the diffrerenz between left an right, given in [m]
00044  */
00045 #define WHEEL_RADIUS_DIFF     0.0001f
00046 
00047 /**
00048  * @brief Radius of the left wheel, given in [m] kleiner --> weiter
00049  */
00050 #define WHEEL_RADIUS_LEFT     0.040190f            
00051 
00052 /**
00053  * @brief Radius of the left wheel, given in [m]
00054  */
00055 #define WHEEL_RADIUS_RIGHT    (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF)
00056 
00057 /**
00058  * @brief Distance of the wheel, given in [m] Greater --> turn more
00059  */
00060 #define WHEEL_DISTANCE        (0.1700f-0.001f)  // org.0.17500f alt: 0.173f  //(0.1700f-0.004f) immer zu weit links  (0.1700f-0.006f) war mal gut aber jetz zu weit rechts 
00061 
00062 /**
00063  * @brief Sets the start X-point, given in [m]
00064  */
00065 #define START_X_OFFSET        -0.850f//-0.8f
00066 
00067 /**
00068  * @brief Sets the start Y-point, given in [m]
00069  */
00070 #define START_Y_OFFSET        0.775f//0.8f
00071 /*! @} */
00072 
00073 /**
00074  * @name State Bits of the car
00075  * @{
00076  */
00077 
00078 /**
00079  * @brief Bit0 = stop pressed
00080  */
00081 #define STATE_STOP            1u
00082 
00083 /**
00084  * @brief Bit1 = Undervoltage battery
00085  */
00086 #define STATE_UNDER           2u
00087 
00088 /**
00089  * @brief Bit2 = left ESCON in error state
00090  */
00091 #define STATE_LEFT            4u
00092 
00093 /**
00094  * @brief Bit3 = right ESCON in error state
00095  */
00096 #define STATE_RIGHT           8u
00097 /*! @} */
00098 
00099 /**
00100  * @name ESCON Constands
00101  *
00102  * @{
00103  */
00104 
00105 /**
00106  * @brief Speed Factor how set in the ESCON Studio
00107  */
00108 #define ESCON_SET_FACTOR      2400.0f
00109 
00110 /**
00111  * @brief Speed Factor how get in the ESCON Studio
00112  */
00113 #define ESCON_GET_FACTOR      2500.0f
00114 
00115 /**
00116  * @brief Error patch of the drift of Analog input and pwn output for set speed
00117  */
00118 #define SET_SPEED_PATCH       (1+0.00262f)
00119 
00120 /**
00121  * @brief Error patch of the drift of Analog input and pwn output for get speed
00122  */
00123 #define GET_SPEED_PATCH       (1+0.0019f)
00124 /*! @} */
00125 
00126 /**
00127  * @name position controller
00128  * @{
00129  */
00130 
00131 /**
00132  * @brief Main Gain for k1, k2 and k3
00133  */
00134 #define GAIN                  0.65f
00135 
00136 /**
00137  * @brief Gain k1 default 1.0f
00138  */
00139 #define K1                    1.45f * GAIN
00140 
00141 /**
00142  * @brief Gain k2 default 3.0f
00143  */
00144 #define K2                    3.0f * GAIN
00145 
00146 /**
00147  * @brief Gain k3 default 2.0f
00148  */
00149 #define K3                    2.0f * GAIN
00150 
00151 /**
00152  * @brief Min. Distance to switch the position controller off.
00153  * Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
00154  */
00155 #define MIN_DISTANCE_ERROR    0.045f
00156 /*! @} */
00157 
00158 /**
00159  * @name Batterie control Battery Type: 1SP1P LG-18650
00160  * nominal voltage 3.6V
00161  * 5 batterys ==> 5 * 3.5V = 17.5V
00162  * @{
00163  */
00164 
00165 /**
00166  * @brief Battery Multiplicator for the potential divider.
00167  * 
00168  * R2 / (R1 + R2) = 0.153    R2= 10k , R1 = 1.8k 1/0.153 = 6.555  --> 3.3 * 6.555 = 21.6333333f
00169  */
00170 #define BAT_MULTIPLICATOR     21.633333333f
00171 
00172 /**
00173  * @brief minium operate voltage, given in [V]
00174  */
00175 #define BAT_MIN               17.5f
00176 /*! @} */
00177 
00178 /**
00179  * @name sampling rate for a Task Object
00180  * @{
00181  */
00182 
00183 /**
00184  * @brief 1kHz Rate for Robot Control, given in [s]
00185  */
00186 #define PERIOD_ROBOTCONTROL   0.001f
00187 
00188 /**
00189  * @brief 1kHz Rate for State Objekt , given in [s]
00190  */
00191 #define PERIOD_STATE          0.001f
00192 
00193 /**
00194  * @brief 10Hz Rate for the Android communication , given in [s]
00195  */
00196 #define PERIOD_ANDROID        (0.035f*2) //(0.025f*2)
00197 /*! @} */
00198 
00199 
00200 /**
00201  * @brief struct state
00202  * structure containing system sensor data
00203  */
00204 typedef struct state {
00205     /** @brief millis Time [ms]*/
00206     int millis;
00207     /** @brief Battery voltage [V] */
00208     float voltageBattery;
00209     /** @brief Number of pulses left */
00210     int leftPulses;
00211     /** @brief Number of pulses right */
00212     int rightPulses;
00213     /** @brief Velocity left [m/s] */
00214     float leftVelocity;
00215     /** @brief Velocity right [m/s] */
00216     float rightVelocity;
00217     /** @brief Velocity of the car [m/s] */
00218     float velocity;
00219     /** @brief Velocity rotation [°/s] */
00220     float omega;
00221     /** @brief X-Axis from co-ordinate [m] */
00222     float xAxis;
00223     /** @brief Y-Axis from co-ordinate [m] */
00224     float yAxis;
00225     /** @brief X-Axis Error [m] */
00226     float xAxisError;
00227     /** @brief X-Axis Error [m] */
00228     float yAxisError;
00229     /** @brief Angle Error [°] */
00230     float angleError;
00231     /** @brief Angle from Car [°] */
00232     float angle;
00233     /** @brief Setpoint X-Axis [m] */
00234     float setxAxis;
00235     /** @brief Setpoint Y-Axis [m] */
00236     float setyAxis;
00237     /** @brief Setpoint Angel [°] */
00238     float setAngle;
00239     /** @brief Setpoint velocitiy [m/s] */
00240     float setVelocity;
00241     /** @brief Setpoint rotation velocitiy [rad/s] */
00242     float setOmega;
00243     /** @brief State of the car */
00244     int state;
00245     /** @brief distance to Goal */
00246     float rho;
00247     /** @brief theta to goal */
00248     float lamda;
00249     /** @brief theta from the goal */
00250     float delta;
00251 } state_t;
00252 
00253 
00254 
00255 #endif