This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
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StateDefines/defines.h@9:d3cdcdef9719, 2013-03-30 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 30 16:35:22 2013 +0000
- Revision:
- 9:d3cdcdef9719
- Parent:
- 8:696c2f9dfc62
- Child:
- 10:09ddb819fdcb
Find Garage 4?????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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chrigelburri | 0:31f7be68e52d | 1 | #ifndef _DEFINES_H_ |
chrigelburri | 0:31f7be68e52d | 2 | #define _DEFINES_H_ |
chrigelburri | 0:31f7be68e52d | 3 | |
chrigelburri | 0:31f7be68e52d | 4 | #include "mbed.h" |
chrigelburri | 0:31f7be68e52d | 5 | |
chrigelburri | 3:92ba0254af87 | 6 | // Physical dimensions |
chrigelburri | 3:92ba0254af87 | 7 | #define PI 3.141592654f // Physical dimensions π. |
chrigelburri | 0:31f7be68e52d | 8 | |
chrigelburri | 3:92ba0254af87 | 9 | // maxon motor #339282 EC 45 flat 30W and GEAR |
chrigelburri | 3:92ba0254af87 | 10 | #define POLE_PAIRS 8u // Number of of pole pairs |
chrigelburri | 5:48a258f6335e | 11 | #define GEAR 1/11.6f // Gear on the motor 1/11.6f |
chrigelburri | 6:48eeb41188dd | 12 | #define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps |
chrigelburri | 0:31f7be68e52d | 13 | |
chrigelburri | 0:31f7be68e52d | 14 | // Physical Dimension of the car |
chrigelburri | 9:d3cdcdef9719 | 15 | #define WHEEL_RADIUS_DIFF 0.0000f // positiv zu weit rechts, given in [m] |
chrigelburri | 9:d3cdcdef9719 | 16 | #define WHEEL_RADIUS_LEFT 0.040280f // radius of the left wheel, given in [m] 0.040280f |
chrigelburri | 8:696c2f9dfc62 | 17 | #define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF) // radius of the left wheel, given in [m] |
chrigelburri | 9:d3cdcdef9719 | 18 | #define WHEEL_DISTANCE 0.2000f // Distance of the wheel, given in [m] Grösser --> mehr drehen |
chrigelburri | 0:31f7be68e52d | 19 | |
chrigelburri | 0:31f7be68e52d | 20 | // State Bits of the car |
chrigelburri | 0:31f7be68e52d | 21 | #define STATE_STOP 1u // Bit0 = stop pressed |
chrigelburri | 0:31f7be68e52d | 22 | #define STATE_UNDER 2u // Bit1 = Undervoltage battery |
chrigelburri | 0:31f7be68e52d | 23 | #define STATE_LEFT 4u // Bit2 = left ESCON in error state |
chrigelburri | 0:31f7be68e52d | 24 | #define STATE_RIGHT 8u // Bit3 = right ESCON in error state |
chrigelburri | 0:31f7be68e52d | 25 | |
chrigelburri | 3:92ba0254af87 | 26 | // ESCON Constands |
chrigelburri | 9:d3cdcdef9719 | 27 | #define ESCON_SET_FACTOR 1500.0f // Speed Factor how set in the ESCON |
chrigelburri | 9:d3cdcdef9719 | 28 | #define ESCON_GET_FACTOR 1600.4f // Speed Factor how get in the ESCON |
chrigelburri | 8:696c2f9dfc62 | 29 | |
chrigelburri | 8:696c2f9dfc62 | 30 | //Error patch of the drift of Analog input and pwn output |
chrigelburri | 9:d3cdcdef9719 | 31 | #define SET_SPEED_PATCH (1+0.00262f) // patch factor of set speed |
chrigelburri | 9:d3cdcdef9719 | 32 | #define GET_SPEED_PATCH (1+0.0019f) // patch factor of get speed |
chrigelburri | 0:31f7be68e52d | 33 | |
chrigelburri | 0:31f7be68e52d | 34 | // Start Defintition |
chrigelburri | 2:d8e1613dc38b | 35 | #define START_X_OFFSET -0.8f // Sets the start X-point [m] |
chrigelburri | 0:31f7be68e52d | 36 | #define START_Y_OFFSET 0.8f // Sets the start Y-point [m] |
chrigelburri | 0:31f7be68e52d | 37 | |
chrigelburri | 0:31f7be68e52d | 38 | // Maximum Aceeleration |
chrigelburri | 0:31f7be68e52d | 39 | #define ACCELERATION 0.25f // maximum translational acceleration, given in [m/s2] |
chrigelburri | 1:6cd533a712c6 | 40 | #define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2] |
chrigelburri | 1:6cd533a712c6 | 41 | |
chrigelburri | 3:92ba0254af87 | 42 | // position controller |
chrigelburri | 9:d3cdcdef9719 | 43 | #define GAIN 0.8f // Main Gain |
chrigelburri | 9:d3cdcdef9719 | 44 | #define K1 0.8f * GAIN |
chrigelburri | 9:d3cdcdef9719 | 45 | #define K2 3.0f * GAIN // deafult 3.0f |
chrigelburri | 7:34be8b3a979c | 46 | #define K3 2.0f * GAIN // deafult 2.0f |
chrigelburri | 8:696c2f9dfc62 | 47 | #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] |
chrigelburri | 0:31f7be68e52d | 48 | |
chrigelburri | 0:31f7be68e52d | 49 | // LiPo Batterie |
chrigelburri | 2:d8e1613dc38b | 50 | #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 |
chrigelburri | 2:d8e1613dc38b | 51 | #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 |
chrigelburri | 2:d8e1613dc38b | 52 | |
chrigelburri | 0:31f7be68e52d | 53 | // Frequenz for the Task |
chrigelburri | 0:31f7be68e52d | 54 | #define PERIOD_COMPASS 0.050f // 20Hz Rate for Compass HMC6352 |
chrigelburri | 0:31f7be68e52d | 55 | #define PERIOD_ROBOTCONTROL 0.001f // 1kHz Rate for Robot Control |
chrigelburri | 0:31f7be68e52d | 56 | #define PERIOD_STATE 0.001f // 1kHz Rate for State Objekt |
chrigelburri | 0:31f7be68e52d | 57 | #define PERIOD_ANDROID 0.1f // 10Hz Rate for State Objekt |
chrigelburri | 0:31f7be68e52d | 58 | |
chrigelburri | 0:31f7be68e52d | 59 | // Compass Maxima und Minima for the Filter |
chrigelburri | 0:31f7be68e52d | 60 | #define SET_MAXIMAS_MINIMAS true // For Set the maximas und minimas when false the object search the maximas minimas by your own |
chrigelburri | 0:31f7be68e52d | 61 | #define COMP_X_MAX 391.219910f // Maximum X-Range |
chrigelburri | 0:31f7be68e52d | 62 | #define COMP_Y_MAX 382.915161f // Maximum Y-Range |
chrigelburri | 0:31f7be68e52d | 63 | #define COMP_Z_MAX -237.855042f // Maximum Z-Range not used in this side |
chrigelburri | 0:31f7be68e52d | 64 | #define COMP_X_MIN -169.952530f // Minimum X-Range |
chrigelburri | 0:31f7be68e52d | 65 | #define COMP_Y_MIN -247.647675f // Minimum Y-Range |
chrigelburri | 6:48eeb41188dd | 66 | #define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side |
chrigelburri | 6:48eeb41188dd | 67 | |
chrigelburri | 6:48eeb41188dd | 68 | // Android Buffer Size for communication |
chrigelburri | 6:48eeb41188dd | 69 | #define OUTL 100 |
chrigelburri | 6:48eeb41188dd | 70 | #define INBL 100 |
chrigelburri | 0:31f7be68e52d | 71 | |
chrigelburri | 2:d8e1613dc38b | 72 | /** |
chrigelburri | 2:d8e1613dc38b | 73 | * struct state |
chrigelburri | 2:d8e1613dc38b | 74 | * structure containing system sensor data |
chrigelburri | 2:d8e1613dc38b | 75 | **/ |
chrigelburri | 0:31f7be68e52d | 76 | typedef struct state { |
chrigelburri | 0:31f7be68e52d | 77 | /** millis Time [ms]*/ |
chrigelburri | 0:31f7be68e52d | 78 | int millis; |
chrigelburri | 0:31f7be68e52d | 79 | /** Battery voltage [V] */ |
chrigelburri | 0:31f7be68e52d | 80 | float voltageBattery; |
chrigelburri | 0:31f7be68e52d | 81 | /** Number of pulses left */ |
chrigelburri | 0:31f7be68e52d | 82 | int leftPulses; |
chrigelburri | 0:31f7be68e52d | 83 | /** Number of pulses right */ |
chrigelburri | 0:31f7be68e52d | 84 | int rightPulses; |
chrigelburri | 0:31f7be68e52d | 85 | /** Velocity left [m/s] */ |
chrigelburri | 0:31f7be68e52d | 86 | float leftVelocity; |
chrigelburri | 0:31f7be68e52d | 87 | /** Velocity right [m/s] */ |
chrigelburri | 0:31f7be68e52d | 88 | float rightVelocity; |
chrigelburri | 0:31f7be68e52d | 89 | /** Velocity of the car [m/s] */ |
chrigelburri | 0:31f7be68e52d | 90 | float velocity; |
chrigelburri | 0:31f7be68e52d | 91 | /** Velocity rotation [°/s] */ |
chrigelburri | 0:31f7be68e52d | 92 | float omega; |
chrigelburri | 0:31f7be68e52d | 93 | /** X-Axis from co-ordinate [m] */ |
chrigelburri | 0:31f7be68e52d | 94 | float xAxis; |
chrigelburri | 0:31f7be68e52d | 95 | /** Y-Axis from co-ordinate [m] */ |
chrigelburri | 0:31f7be68e52d | 96 | float yAxis; |
chrigelburri | 0:31f7be68e52d | 97 | /** X-Axis Error [m] */ |
chrigelburri | 0:31f7be68e52d | 98 | float xAxisError; |
chrigelburri | 0:31f7be68e52d | 99 | /** X-Axis Error [m] */ |
chrigelburri | 0:31f7be68e52d | 100 | float yAxisError; |
chrigelburri | 0:31f7be68e52d | 101 | /** Angle Error [°] */ |
chrigelburri | 0:31f7be68e52d | 102 | float angleError; |
chrigelburri | 0:31f7be68e52d | 103 | /** Angle from Car [°] */ |
chrigelburri | 0:31f7be68e52d | 104 | float angle; |
chrigelburri | 0:31f7be68e52d | 105 | /** Setpoint X-Axis [m] */ |
chrigelburri | 0:31f7be68e52d | 106 | float setxAxis; |
chrigelburri | 0:31f7be68e52d | 107 | /** Setpoint Y-Axis [m] */ |
chrigelburri | 0:31f7be68e52d | 108 | float setyAxis; |
chrigelburri | 0:31f7be68e52d | 109 | /** Setpoint Angel [°] */ |
chrigelburri | 0:31f7be68e52d | 110 | float setAngle; |
chrigelburri | 8:696c2f9dfc62 | 111 | /** Setpoint velocitiy [m/s] */ |
chrigelburri | 8:696c2f9dfc62 | 112 | float setVelocity; |
chrigelburri | 8:696c2f9dfc62 | 113 | /** Setpoint rotation velocitiy [rad/s] */ |
chrigelburri | 8:696c2f9dfc62 | 114 | float setOmega; |
chrigelburri | 0:31f7be68e52d | 115 | /** Compass X-Axis */ |
chrigelburri | 0:31f7be68e52d | 116 | float compassxAxis; |
chrigelburri | 0:31f7be68e52d | 117 | /** Compass Y-Axis */ |
chrigelburri | 0:31f7be68e52d | 118 | float compassyAxis; |
chrigelburri | 0:31f7be68e52d | 119 | /** State of the Car **/ |
chrigelburri | 0:31f7be68e52d | 120 | int state; |
chrigelburri | 2:d8e1613dc38b | 121 | /** distance to Goal */ |
chrigelburri | 2:d8e1613dc38b | 122 | float rho; |
chrigelburri | 2:d8e1613dc38b | 123 | /** theta to goal */ |
chrigelburri | 2:d8e1613dc38b | 124 | float lamda; |
chrigelburri | 2:d8e1613dc38b | 125 | /** theta from the goal */ |
chrigelburri | 2:d8e1613dc38b | 126 | float delta; |
chrigelburri | 0:31f7be68e52d | 127 | } state_t; |
chrigelburri | 0:31f7be68e52d | 128 | |
chrigelburri | 0:31f7be68e52d | 129 | |
chrigelburri | 0:31f7be68e52d | 130 | #endif |