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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Diff: StateDefines/defines.h
- Revision:
- 3:92ba0254af87
- Parent:
- 2:d8e1613dc38b
- Child:
- 4:3a97923ff2d4
--- a/StateDefines/defines.h Sun Mar 03 16:26:47 2013 +0000 +++ b/StateDefines/defines.h Thu Mar 07 09:47:07 2013 +0000 @@ -3,13 +3,13 @@ #include "mbed.h" -//Physical dimensions. -#define PI 3.141592654f +// Physical dimensions +#define PI 3.141592654f // Physical dimensions π. -// Motor #339282 EC 45 flat 30W and GEAR -#define POLE_PAIRS 8u // 8 +// maxon motor #339282 EC 45 flat 30W and GEAR +#define POLE_PAIRS 8u // Number of of pole pairs #define GEAR 1.0f // Gear on the motor -#define PULSES_PER_STEP 6u // 6 step for Hallsensor +#define PULSES_PER_STEP 6u // Pulses per step Hallsensor have 6 steps // Physical Dimension of the car #define WHEEL_RADIUS 0.042f // radius of the wheel, given in [m] @@ -21,7 +21,7 @@ #define STATE_LEFT 4u // Bit2 = left ESCON in error state #define STATE_RIGHT 8u // Bit3 = right ESCON in error state -// ESCON Dimenstion +// ESCON Constands #define ESCON_SET_FACTOR 100.0f // Speed Factor how set in the ESCON #define ESCON_GET_FACTOR 100.0f // Speed Factor how get in the ESCON @@ -33,12 +33,11 @@ #define ACCELERATION 0.25f // maximum translational acceleration, given in [m/s2] #define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2] -// Gains of the position controller +// position controller #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] // LiPo Batterie